Low-gravity motion sensing prediction method and system based on comprehensive space orientation model

Abstract

The invention provides a low-gravity motion perception prediction method and system based on a comprehensive spatial orientation model, and the method builds a comprehensive spatial orientation perception model which is used for the prediction of low-gravity motion perception. The model is based on a space state observation theory, on the basis of simulating a human vestibule, a visual receptor and a nervous system estimator, a subjective vertical theory is utilized to integrate an ontology perception simulation module, the problem that an original model cannot simulate low-gravity characteristics is solved, and prediction of motion perception in a low-gravity environment can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of low-gravity motion, and in particular to low-gravity motion perception prediction. Background Art

[0002] People's motion perception and operation capabilities will change in a low-gravity environment, but it is difficult for the ground environment to continuously and effectively simulate low-gravity movement, so it is not easy to accurately predict people's motion perception characteristics in a low-gravity environment.

[0003] Unlike ground missions, astronauts may experience long periods of microgravity or low gravity environments in manned lunar exploration missions. Studies have shown that the accuracy of vestibular motion perception in low-gravity environments will be reduced. When visual information is limited, this may lead to misestimation of one's own motion, resulting in spatial disorientation (SD), which further affects the correctness of astronauts' manual control operations. In order to ensure that astronauts can efficiently complete lunar driving tasks in the special gravity environment of the moon, it is necessary to train operational skills in ground-simulated mission scenarios before the mission is executed. The key is to establish motion and operation perceptions on the ground that are consistent or equivalent to the low-gravity environment. Although it is difficult to obtain a sustained and effective low-gravity physical simulation effect on the ground, from the perspective of the consistency of human motion perception, the prediction and simulation of motion perception equivalent to or close to the low gravity on the moon can be achieved on the ground.

[0004] Human motion perception is mainly obtained through sensory information such as vision, vestibular and proprioception. More than 80% of the human body's external information comes from vision. Vision can provide fast, direct, rich and accurate information about a person's spatial position, depth and self-motion. Therefore, whether it is a real environment or a virtual environment, visual information is the most important source of environmental perception; through static viewpoint observation, real-time perception and judgment of distance, size, speed and direction can be made; the main role of visual information in motion simulation is to generate self-motion (visually induced self-motion or Vection). Visually induced self-motion means that when a person faces a simulated scene, he or she will use himself or herself as a reference system, and thus feel self-motion in the opposite direction of the visual scene. Therefore, in certain circumstances, motion perception can be generated by vision alone.

[0005] The vestibular system is located in the human inner ear, including the semicircular canals and otoliths, which are used to sense angular and linear movements of the head, respectively. Since the vestibule cannot distinguish between gravity and low-frequency acceleration, the vestibule alone cannot distinguish whether the movement is low-frequency acceleration or the gravity component generated by head tilt (the motion simulation algorithm uses the gravity component to simulate low-frequency continuous acceleration), and visual information is needed to distinguish. The main frequency band perceived by the vestibular organs is 0.1Hz to 10Hz, which is also the normal movement frequency range of the human head. The perception of movement below 0.1Hz mainly relies on visual information.

[0006] The spatial orientation model is an important tool in motion perception research. This model is mainly used to predict the perception effect of the human body in different motion states. It is a model that simulates the human motion perception mechanism. Its modeling idea is spatial observation theory. By simulating the receptors in the human vestibular system and visual system and the estimator in the nervous system, it can realize the prediction of simulated human motion perception. Its theoretical model structure is as follows Figure 1 As shown. This model is subsequently referred to as the "spatial orientation perception model". The motion perception model is divided into a vestibular perception model and a vestibular-visual interaction perception model, depending on whether visual information is used. The vestibular perception model mainly simulates the receptors in the vestibular system and the signal processing process between the vestibular nerves and the brain to predict the human body's perception of head movement. The vestibular-visual interaction perception model considers the receptors and estimators in both the vestibular system and the visual system.

[0007] For the simulation and prediction of conventional gravity motion, motion perception models based on spatial directional observation have been widely used. Experimental verification has also shown its effectiveness in simulating various perceptual characteristics. However, the above models mainly realize the prediction and simulation of motion perception by the visual and vestibular organs, but lack the perception of proprioception. Proprioception provides the perception of the movement and relative position of various parts of the body, which is mainly determined by the static position, movement speed and direction of the limbs. The most basic proprioception is muscle movement perception (Kinesthesia). The terms "proprioception" or "muscle movement perception" in academia are often interchangeable. Proprioception does not come from a specific organ, but from the nervous system as a whole. Its input signals are different from tactile receptors - nerve signals from inside the body rather than on the surface.

[0008] Proprioception is important for spatial orientation and motion perception in a low-gravity environment. Ground gravity provides the human body with a strong and effective anchor point for spatial orientation and motion perception, and the contribution of proprioception is not obvious, so the motion simulation in the ground environment can ignore its influence. However, in a low-gravity environment, due to the weakened gravity, the role of proprioception is prominent. A typical example is that there is no gravity for orientation in the space station. At the same time, when the astronaut closes his eyes and has no visual information, he still has a sense of spatial verticality, which is also because proprioception provides him with body direction information. This illustrates the importance of proprioception in unconventional gravity environments.

[0009] Therefore, how to accurately simulate motion perception in a low-gravity environment is of great significance. Summary of the invention

[0010] In order to solve the problem that the existing technology pays little attention to the motion perception characteristics in a low-gravity environment and cannot accurately simulate the human body's motion perception in different gravity environments, the present invention proposes a low-gravity motion perception prediction method and system based on a comprehensive spatial orientation model.

[0011] In a first aspect, a low-gravity motion perception prediction method based on a comprehensive spatial orientation model is provided, comprising:

[0012] Acquire vestibular model data, visual model data and human body gravity information;

[0013] Based on subjective vertical theory, the internal vector is determined as the proprioceptive input parameter;

[0014] Calculate the human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data;

[0015] The vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters are input into a corresponding motion perception model to perform motion perception prediction, and output motion perception prediction data.

[0016] Preferably, the vestibular model includes an otolith model and a semicircular canal model.

[0017] Preferably, the input data of the otolith model includes specific force;

[0018] The input data of the semicircular canal model includes an angular velocity vector.

[0019] Preferably, the specific force is as follows:

[0020] f=g–a+b

[0021] Among them, f is the specific force, g is the gravity, a is the acceleration, and b is the internal vector.

[0022] Preferably, calculating the human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data includes:

[0023] Get the actual tilt angle of the human body;

[0024] The human body perceived tilt angle is calculated based on the human body gravity information, the actual human body tilt angle and the vestibular model data.

[0025] Preferably, the calculation of the human body perceived tilt angle is shown in the following formula:

[0026]

[0027] Among them, ρ represents the perceived tilt angle, θ represents the actual tilt angle of the human body, and a x Indicates the gravity component information of the human body in the x-axis direction, a z It represents the gravity component information of the human body in the z-axis direction, b represents the internal vector, and g represents gravity.

[0028] Preferably, the visual model data includes visual position, linear velocity, angular velocity and gravity direction.

[0029] Preferably, the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameter are input into a corresponding motion perception model to perform motion perception prediction, and output motion perception prediction data, including:

[0030] Inputting the vestibular model data, the visual model data and the proprioceptive input parameters into a motion perception model;

[0031] Generate otolith model prediction data and semicircular canal model prediction data respectively through the otolith model transfer function and the semicircular canal model transfer function in the motion perception model;

[0032] Generate visual model prediction data through the visual model transfer function in the motion perception model;

[0033] The otolith model prediction data, the semicircular canal model prediction data and the visual model prediction data are fused as motion perception prediction data.

[0034] In a second aspect, a low-gravity motion perception prediction system based on a comprehensive spatial orientation model is provided, comprising:

[0035] An acquisition module, configured to acquire vestibular model data, visual model data, and human body gravity information;

[0036] a determination module configured to determine an internal vector based on a subjective vertical theory as a proprioceptive input parameter;

[0037] A calculation module, configured to calculate a human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data;

[0038] The output module is configured to input the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters into the corresponding motion perception model for motion perception prediction, and output motion perception prediction data.

[0039] Preferably, the vestibular model includes an otolith model and a semicircular canal model.

[0040] Preferably, the input data of the otolith model includes specific force;

[0041] The input data of the semicircular canal model includes an angular velocity vector.

[0042] Preferably, the specific force is as follows:

[0043] f=g–a+b

[0044] Among them, f is the specific force, g is the gravity, a is the acceleration, and b is the internal vector.

[0045] Preferably, the calculation module is further configured to:

[0046] Get the actual tilt angle of the human body;

[0047] The human body perceived tilt angle is calculated based on the human body gravity information, the actual human body tilt angle and the vestibular model data.

[0048] Preferably, the calculation of the human body perceived tilt angle is shown in the following formula:

[0049]

[0050] Among them, ρ represents the perceived tilt angle, θ represents the actual tilt angle of the human body, and a x Indicates the gravity component information of the human body in the x-axis direction, a z It represents the gravity component information of the human body in the z-axis direction, b represents the internal vector, and g represents gravity.

[0051] Preferably, the visual model data includes visual position, linear velocity, angular velocity and gravity direction.

[0052] Preferably, the output module is further configured as follows:

[0053] Inputting the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameter into a motion perception model;

[0054] Generate otolith model prediction data and semicircular canal model prediction data respectively through the otolith model transfer function and the semicircular canal model transfer function in the motion perception model;

[0055] Generate visual model prediction data through the visual model transfer function in the motion perception model;

[0056] The otolith model prediction data, the semicircular canal model prediction data and the visual model prediction data are fused as motion perception prediction data.

[0057] In a third aspect, the present application further provides an electronic device, comprising: at least one processor and a memory; the memory and the processor are connected via a bus;

[0058] The memory is used to store one or more programs;

[0059] When the one or more programs are executed by the at least one processor, a low-gravity motion perception prediction method based on a comprehensive spatial orientation model as described above is implemented.

[0060] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements a low-gravity motion perception prediction method based on a comprehensive spatial orientation model as described above.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The present invention provides a method for predicting low-gravity motion perception based on a comprehensive spatial orientation model. The method establishes a comprehensive spatial orientation perception model for predicting low-gravity motion perception. The model is based on the theory of spatial state observation. On the basis of simulating the receptors in the human vestibular and visual system and the estimator of the nervous system, the model incorporates the proprioceptive perception simulation module using the subjective vertical theory, solves the problem that the original model cannot simulate the low-gravity characteristics, and can realize the prediction of motion perception in a low-gravity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a schematic diagram of the spatial orientation model structure of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention;

[0064] Figure 2 It is a flow chart of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention;

[0065] Figure 3 It is a schematic diagram of the technical solution of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention;

[0066] Figure 4 It is a schematic diagram of a subjective vertical vector module of the low-gravity motion perception prediction method based on a comprehensive spatial orientation model of the present invention;

[0067] Figure 5a It is a schematic diagram of a specific force model of a low-gravity motion perception prediction method based on a comprehensive spatial orientation model of the present invention;

[0068] Figure 5b It is a schematic diagram of the fusion of the specific force model and the subjective vertical module of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention;

[0069] Figure 6 A schematic diagram of a motion perception model architecture of a low-gravity motion perception prediction method based on a comprehensive spatial orientation model of the present invention;

[0070] Figure 7 It is a structural schematic diagram of a low-gravity motion perception prediction system based on a comprehensive spatial orientation model of the present invention;

[0071] Figure 8 The figure is a schematic diagram of the structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0072] The present invention proposes a low-gravity motion perception prediction method and system based on a comprehensive spatial orientation model. The method and system are based on the spatial state observation theory, and on the basis of simulating the receptors in the human vestibular and visual systems and the estimators of the nervous system, combined with the subjective vertical theory, a proprioceptive perception simulation module is integrated to make up for the problem that the original model lacks proprioceptive perception simulation. On the one hand, the model structure is completed, and on the other hand, the accuracy of the model's low-gravity motion perception simulation is enhanced.

[0073] In order to better understand the present invention, the content of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0074] Embodiment 1:

[0075] A low-gravity motion perception prediction method based on a comprehensive spatial orientation model, such as Figure 2 As shown, including:

[0076] Step 1: Obtain vestibular model data, visual model data and human body gravity information;

[0077] Step 2: Determine the internal vector based on subjective vertical theory as the proprioceptive input parameter;

[0078] Step 3: Calculating a human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data;

[0079] Step 4: Input the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters into the corresponding motion perception model to perform motion perception prediction, and output motion perception prediction data.

[0080] In this embodiment, the vestibular model includes an otolith model and a semicircular canal model; the input data of the otolith model includes specific force; and the input data of the semicircular canal model includes an angular velocity vector.

[0081] In this embodiment, in step 3, the process of calculating the human body perceived tilt angle based on the intrinsic vector, human body gravity information and vestibular model data includes:

[0082] Get the actual tilt angle of the human body;

[0083] The human body perceived tilt angle is calculated based on the human body gravity information, the actual human body tilt angle and the vestibular model data.

[0084] In this embodiment, the visual model data includes visual position, linear velocity, angular velocity and gravity direction.

[0085] In this embodiment, in step 4, the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters are input into the corresponding motion perception model to perform motion perception prediction, and the process of outputting the motion perception prediction data includes:

[0086] Inputting the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameter into a motion perception model;

[0087] Generate otolith model prediction data and semicircular canal model prediction data respectively through the otolith model transfer function and the semicircular canal model transfer function in the motion perception model;

[0088] Generate visual model prediction data through the visual model transfer function in the motion perception model;

[0089] The otolith model prediction data, the semicircular canal model prediction data and the visual model prediction data are fused as motion perception prediction data.

[0090] like Figure 3 As shown, Figure 3 The schematic diagram of the technical solution of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention is combined with Figure 1 An introduction to low-gravity motion perception prediction is given.

[0091] The current mainstream spatial orientation perception models (such as Figure 1The model (shown in Figure 1) is based on the theory of spatial directional observation, which includes the perceptual dynamics of the visual and vestibular organs and their internal brain models. In the process of motion perception, low gravity mainly affects the human vestibular and proprioceptive perception. The effect of low gravity on vestibular perception is mainly reflected in the input signal of the otolith model. Since the otolith cannot distinguish between inertial acceleration (a) and gravity (g), its input is the combined force of the two (i.e., specific force f = ga).

[0092] As mentioned above, proprioception is very important for spatial orientation and motion perception (especially the perception of posture changes) in a low-gravity environment. In order to reflect proprioceptive information in the model, the present invention introduces the subjective vertical theory. This theory reflects the law of gravity (G), vision (V) and internal vector (B) on the subjective vertical (SV) of a person, wherein the internal vector (Theidiotropic vector) represents a quantitative expression of proprioception in spatial orientation. It can be seen that the actual effect of the SV vector in the subjective vertical theory is similar to the specific force f, which is an "anchor" formed by integrating various perception information, and will affect the human body's perception of its own posture. Since they are all related to the magnitude of gravity, that is, the low-gravity environment will affect the perception of the specific force and subjective vertical, and then affect the perception of the attitude angle. In order to more comprehensively reflect the motion perception characteristics of the lunar environment, the present invention introduces the internal vector in the subjective vertical theory into the spatial orientation perception model (f=g-a+b), that is, the proprioceptive perception information is added, and the accuracy of the model motion perception prediction is improved.

[0093] like Figure 4 As shown, Figure 4 is a schematic diagram of a subjective vertical vector model of a low-gravity motion perception prediction method based on a comprehensive spatial orientation model of the present invention. Figure 4 An introduction to the proprioceptive perception model is given.

[0094] The subjective vertical theory is used to extract the intrinsic vector for the quantitative description of proprioception. Subjective vertical (SV) is the subjective judgment of the vertical orientation of the body and is also an intrinsic representation of gravity information. The SV vector model is as follows: Figure 4 As shown in the figure, the direction of SV is determined by gravity (G), vision (V) and the internal vector (B). Here, the direction of SV is positioned head-to-foot and pointing to the head. V is consistent with the visual polarity direction in the field of view (the uniform direction indicated by most objects in the scene), and the gravity vector here refers to the gravity receptor vector G, which indicates a direction opposite to the physical direction of gravity. The internal vector B is not a physical definition, but a subjective perception of the longitudinal axis of the body, and always points to the head.

[0095] (2) Comparative model

[0096] In order to accurately predict the motion perception characteristics in a low-gravity environment, the present invention mainly focuses on the part of the perception model that is affected by gravity. The gravity environment mainly affects vestibular perception information. From the above discussion, it can be seen that the otoliths are responsible for linear acceleration perception, and their direct inputs are gravity (g) and inertia (a). Therefore, the most direct difference in lunar motion perception is caused by otolith perception. Specifically, the input of the otolith model is the combined force of gravity and inertia (Gravito-Inertial Force, GIF), also known as specific force, which has the following relationship

[0097] f=g–a

[0098] The force vector model is as follows Figure 5a When visual information is not considered, people's judgment of their own tilt posture depends on the angle between the combined force of gravity and inertia (specific force) and the body axis. This perceptual characteristic of people is the somatogravic illusion. People will think that the direction of the specific force f is vertically downward, and thus regard the angle between their body and the specific force as the tilt angle of their body.

[0099] Moreover, both the specific force and subjective verticality first quantify the perceived information, and then transform it into the body (head) coordinate system to calculate the cooperative force (specific force: f = g-a, subjective verticality: SV = G+V+B), and both estimate the perceived tilt angle through the angle between this resultant force and the body axis. Therefore, the internal vector is added to the specific force calculation, and the following specific force calculation including the internal vector is proposed:

[0100] f=g–a+b

[0101] Each vector in the above formula is calculated in the body (head) coordinate system, and the direction definition is shown in Figure 5. The above formula b represents the internal vector. The internal vector value of the present invention adopts the verified empirical value of 0.2g (g is the ground gravity value of 9.8m / s 2 ), which quantitatively represents the role of the human body axis in perceiving tilt angles (pitch angle and roll angle). Since the inner vector is always consistent with the body axis (Z axis of the head coordinate system), the inner vector can be written as b = (0, 0, -0.2g). The modified vector model is shown below Figure 5b The inertial acceleration acting on the human body usually changes in real time, and its component in the human body coordinate system is recorded as a=(a x , a y , a z ). In the above, the vectors g, a and b are all known quantities, and the actual tilt angle θ of the body is also known. Then according to Figure 5b Vector model, the perceived tilt angle ρ (i.e. the perceived tilt angle mentioned above) is:

[0102]

[0103] Among them, ρ represents the perceived tilt angle, θ represents the actual tilt angle of the human body, and a x Indicates the gravity component information of the human body in the x-axis direction, a z It represents the gravity component information of the human body in the z-axis direction, b represents the internal vector, and g represents gravity.

[0104] It should be noted that the above formula and Figure 5 both take the pitch angle as an example. The calculation method of the roll angle is similar (in the above formula, a x Change to a y On the other hand, the above formula is the perceived tilt angle calculated based on the subjective vertical principle, which is an estimated value without correction by the internal model. The predicted value of the final perceived tilt angle is as follows Figure 6 The tilt angle of the model output.

[0105] See also Figure 6 , Figure 6 This is a schematic diagram of the motion perception model architecture of the low-gravity motion perception prediction method based on the comprehensive spatial orientation model of the present invention. Figure 6 The motion perception prediction of the present invention is introduced.

[0106] (1) Physical dynamics model of vision and vestibule

[0107] The physical dynamics module model simulates the dynamic response mechanism of the vestibular and visual organs. Figure 6 In the model shown, the inputs to the vestibular model are the three-dimensional linear acceleration (a) and angular velocity (ω) vectors. The angular velocity is integrated by a quaternion integrator to calculate the change in gravity (g) during head movement. The input to the otolith model is the specific force (f = ga), and its transfer function (OTO) is a unit matrix; the semicircular canal transfer function (SCC) is a second-order high-pass filter with a long dynamic constant of 5.7s and a neural adaptation time constant of 80s. The visual perception channel contains four inputs: visual position (p V ), linear speed (v V ), angular velocity (ω V ) and the direction of gravity (g V ), its transfer function (VIS p , VIS v , VIS ω , VIS g ) are all unit matrices. Vision can be turned on or off according to environmental conditions.

[0108] (2) Internal Model of Vision and Vestibular Function

[0109] Efferent signals from the otoliths, semicircular canals, and vision are compared in the central nervous system with the desired perception. The desired perception is represented by an internal model. The internal model transfer function is consistent with the corresponding perceptual dynamics structure. The perceptual error between the actual perception and the expected perception (e a ,e f ,e ω ,e pv ,e vv ,e ωv ,e gv ) through the corresponding 9 weight parameters (K ω ,K a ,K f ,K fω ,K1,K pv ,K vv ,K ωv ,K gv ) to adjust. The model output is the linear acceleration gravity and angular velocity Linear velocity can also be output and location They represent the actual perceived motion state. Among them, angular velocity The three-axis angle value calculated after integration is the tilt angle finally perceived by the brain.

[0110] The specific transfer models of the above models are as follows. Otolith model transfer function:

[0111]

[0112] Wherein, OTO represents the otolith model transfer function, represents the transfer function of the otolith in the internal model, and I represents the matrix row number.

[0113] Semicircular canal model transfer function:

[0114]

[0115] Where SCC represents the transfer function of the semicircular canal model, s represents the complex variable in the transfer function, represents the corresponding internal model transfer function, τ d and Both represent long time constants, τ a represents the neural adaptation time constant.

[0116] Vision model transfer function:

[0117]

[0118] Among them, VIS x and denote the visual position perception transfer function in the dynamic and internal models, respectively, and Represents the visual linear velocity perception transfer function, VIS ω and represents the visual angular velocity perception transfer function, VIS g and represents the visual gravity perception transfer function.

[0119] Figure 6 The standard parameter values ​​of the model are shown in Table 1.

[0120] Table 1 Typical parameter values ​​of motion perception model

[0121]

[0122] (3) Spatial directional motion perception model integrating proprioception

[0123] The model that integrates the above-mentioned specific force and subjective vertical model is implemented in the original spatial directional motion perception model. The module modification part is Figure 6 The input specific force f of the middle otolith model (OTO), to which the intrinsic vector b is added in its calculation, represents a quantitative representation of proprioceptive perception.

[0124] Embodiment 2:

[0125] The present invention based on the same inventive concept also provides a low gravity motion perception prediction system based on a comprehensive spatial orientation model, such as Figure 7 As shown, including:

[0126] An acquisition module, configured to acquire vestibular model data, visual model data, and human body gravity information;

[0127] a determination module configured to determine an internal vector based on a subjective vertical theory as a proprioceptive input parameter;

[0128] A calculation module, configured to calculate a human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data;

[0129] The output module is configured to input the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters into the corresponding motion perception model for motion perception prediction, and output motion perception prediction data.

[0130] Preferably, the vestibular model includes an otolith model and a semicircular canal model.

[0131] Preferably, the input data of the otolith model includes specific force;

[0132] The input data of the semicircular canal model includes an angular velocity vector.

[0133] Preferably, the specific force is as follows:

[0134] f=g–a+b

[0135] Among them, f is the specific force, g is the gravity, a is the acceleration, and b is the internal vector.

[0136] Preferably, the calculation module is further configured to:

[0137] Get the actual tilt angle of the human body;

[0138] The human body perceived tilt angle is calculated based on the human body gravity information, the actual human body tilt angle and the vestibular model data.

[0139] Preferably, the calculation of the human body perceived tilt angle is shown in the following formula:

[0140]

[0141] Among them, ρ represents the perceived tilt angle, θ represents the actual tilt angle of the human body, and a x Indicates the gravity component information of the human body in the x-axis direction, a z It represents the gravity component information of the human body in the z-axis direction, and b represents the internal vector.

[0142] Preferably, the visual model data includes visual position, linear velocity, angular velocity and gravity direction.

[0143] Preferably, the output module is further configured as follows:

[0144] Inputting the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameter into a motion perception model;

[0145] Generate otolith model prediction data and semicircular canal model prediction data respectively through the otolith model transfer function and the semicircular canal model transfer function in the motion perception model;

[0146] Generate visual model prediction data through the visual model transfer function in the motion perception model;

[0147] The otolith model prediction data, the semicircular canal model prediction data and the visual model prediction data are fused as motion perception prediction data.

[0148] Example 3

[0149] like Figure 8As shown, the present invention also provides an electronic device, which may be a computer device, a single-chip device, an intelligent mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, the processor, and the transceiver component are connected via a bus; the memory may be used to store an execution program, and an exemplary execution program may include instructions; the processor is used to execute the instructions stored in the memory. The memory may also be used to store data, which may be called and / or modified when the instructions are executed.

[0150] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in a storage medium to implement corresponding method flows or corresponding functions, so as to implement the steps of a low-gravity motion perception prediction method based on a comprehensive spatial orientation model in the above-mentioned embodiment.

[0151] Example 4

[0152] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It can be understood that the storage medium here can include both built-in storage media in electronic devices and, of course, extended storage media supported by electronic devices. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can implement the steps of a low-gravity motion perception prediction method based on a comprehensive spatial orientation model in the above embodiment.

[0153] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A low-gravity motion perception prediction method based on a comprehensive spatial orientation model, characterized in that: include: Acquire vestibular model data, visual model data and human body gravity information; Based on subjective vertical theory, the internal vector is determined as the proprioceptive input parameter; Calculate the human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data; The vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters are input into a corresponding motion perception model module for motion perception prediction, and the motion perception prediction data is output.

2. The method according to claim 1, characterized in that The vestibular model includes an otolith model and a semicircular canal model; The input of the otolith model includes specific force, and the input of the semicircular canal model includes angular velocity vector.

3. The method according to claim 2, characterized in that The specific force is shown in the following formula: f=g–a+b Among them, f is the specific force parameter, g is gravity, a is acceleration, and b is the internal vector.

4. The method according to claim 1, characterized in that: The calculating the human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data comprises: Get the actual tilt angle of the human body; The human body perceived tilt angle is calculated based on the human body gravity information, the actual human body tilt angle and the vestibular model data.

5. The method according to claim 4, characterized in that The calculation of the human body perceived tilt angle is shown in the following formula: Among them, ρ represents the human body's perceived tilt angle, θ represents the human body's actual tilt angle, and a x Indicates the gravity component information of the human body in the x-axis direction, a z It represents the gravity component information of the human body in the z-axis direction, b represents the internal vector, and g represents gravity.

6. The method according to claim 1, characterized in that The visual model data includes visual position, linear velocity, angular velocity and gravity direction.

7. The method according to claim 1, characterized in that Based on the vestibular model data, the visual model data and the proprioceptive input parameters, the corresponding motion perception model module is input to perform motion perception prediction, and the motion perception prediction data is output, including: Inputting the vestibular model data, the visual model data and the proprioceptive input parameters into a motion perception model; Generate otolith model prediction data and semicircular canal model prediction data respectively through the otolith model transfer function and the semicircular canal model transfer function in the motion perception model; Generate visual model prediction data through the visual model transfer function in the motion perception model; The otolith model prediction data, the semicircular canal model prediction data and the visual model prediction data are fused as motion perception prediction data.

8. A low-gravity motion perception prediction system based on a comprehensive spatial orientation model, characterized in that: include: An acquisition module, configured to acquire vestibular model data, visual model data, and human body gravity information; a determination module configured to determine an internal vector based on a subjective vertical theory as a proprioceptive input parameter; A calculation module, configured to calculate a human body perceived tilt angle based on the intrinsic vector, the human body gravity information and the vestibular model data; The output module is configured to input the vestibular model data, the visual model data, the human body perceived tilt angle and the proprioceptive input parameters into the corresponding motion perception model module for motion perception prediction, and output motion perception prediction data.

9. An electronic device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, the low-gravity motion perception prediction method based on the comprehensive spatial orientation model as described in any one of claims 1 to 7 is implemented.

10. A readable storage medium, characterized in that: An execution program is stored thereon, and when the execution program is executed, the low-gravity motion perception prediction method based on a comprehensive spatial orientation model as described in any one of claims 1 to 7 is implemented.

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