Spatial positioning system and spatial positioning method
Through a magnetic field-based spatial positioning system, the position of the positioned device is determined using magnetic field signals and acceleration information, which solves the accuracy and light dependence problems of the optical tracking method, and achieves high-precision spatial positioning.
Patent Information
- Application Number
- CN202311719859.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-14
- Publication Date
- 2025-06-17
AI Technical Summary
In the prior art, the inward-outward tracking method relies on optical tracking, and has problems such that infrared rays cannot escape the camera range, are easily blocked, and are affected by ambient light, resulting in low tracking accuracy.
Using a spatial positioning system based on a magnetic field, the position of the positioning device relative to the positioning reference device is determined by the magnetic field signal generated by the positioning reference device and the magnetic field intensity information and acceleration information detected by the sensor of the positioning device.
It realizes tracking the position of the tracked object without blind spots within the magnetic field induction range, and is not affected by light changes, improves the tracking accuracy and achieves high-precision spatial positioning.
Smart Images
Figure CN120160620A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of positioning, and particularly to a spatial positioning system and a spatial positioning method. Background Art
[0002] Methods for tracking an object in a small-scale 3D space include two methods: inside-out tracking and outside-in tracking. Currently, both outside-in tracking and inside-out tracking are basically implemented by optical tracking for positioning. In outside-in tracking, multiple locators pre-placed in the physical environment where the object to be tracked is located are used to perform multiple high-speed light scans on the object to be tracked, and the movement trajectory of the object to be tracked is calculated through an algorithm. In inside-out tracking, a camera provided in a positioning reference device is used to capture the infrared rays emitted by the object to be tracked, and the movement trajectory of the object to be tracked is calculated through an algorithm. Compared with outside-in tracking, inside-out tracking does not require the placement of locators, so it is not restricted by the spatial range. However, inside-out tracking has the following disadvantages due to the use of optical tracking: the infrared rays emitted by the object to be tracked cannot escape the shooting range of the camera; if the infrared rays emitted by the object to be tracked are blocked, it is possible to lose the trace of the object to be tracked or affect the tracking accuracy; the tracking accuracy is affected by the ambient light. For example, in a strong light environment (such as direct sunlight outdoors), the camera may not be able to identify the infrared rays of the object to be tracked and thus lose the trace of the object to be tracked. Summary of the Invention
[0003] In view of this, the present disclosure provides a spatial positioning system and a spatial positioning method capable of achieving high-precision spatial positioning.
[0004] According to an aspect of the present disclosure, there is provided a spatial positioning system, including a positioning reference device, a device to be positioned, and a processor device. The positioning reference device includes a magnetic field generating unit that generates a magnetic field signal with a specified frequency. The device to be positioned includes: a first sensor unit that detects magnetic field intensity information corresponding to the position of the device to be positioned and acceleration information corresponding to the attitude of the device to be positioned according to the induction result of the magnetic field signal; and a first transmitting unit that transmits the magnetic field intensity information and acceleration information detected by the first sensor unit to the processor device. The processor device includes: a receiving unit that receives the magnetic field intensity information and acceleration information detected by the first sensor unit; and a position determining unit that determines the position of the device to be positioned relative to the positioning reference device according to the magnetic field intensity information and acceleration information detected by the first sensor unit.
[0005] According to another aspect of the present disclosure, a spatial positioning method is provided, including: a magnetic field detection step, in which a device to be positioned obtains magnetic field intensity information corresponding to the position of the device to be positioned detected according to the induction result of a magnetic field signal through a first sensor; an acceleration detection step, in which the device to be positioned detects acceleration information corresponding to the attitude of the device to be positioned through a second sensor; and a position determination step, in which a processor device determines the position of the device to be positioned relative to a positioning reference device based on the magnetic field intensity information and acceleration information detected by the device to be positioned.
[0006] By determining the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information detected by the device to be positioned in the magnetic field generated by the positioning reference device and the acceleration information corresponding to the attitude of the device to be positioned detected by the device to be positioned, the spatial positioning system and the spatial positioning method according to various aspects of the present disclosure can track the position of a tracked object carrying the device to be positioned without blind spots within the magnetic field induction range, and the tracking accuracy of the tracked object is not affected by light changes, and accurate tracking can be achieved even in a strong light environment. Therefore, high-precision spatial positioning can be achieved.
[0007] Other features and aspects of the present disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The drawings included in the specification and constituting a part of the specification illustrate exemplary embodiments, features, and aspects of the present disclosure together with the specification, and are used to explain the principles of the present disclosure.
[0009] Figure 1 A block diagram showing an example of the spatial positioning system of this embodiment.
[0010] Figure 2 A specific implementation example of the positioning reference device and the device to be positioned of this embodiment is shown.
[0011] Figure 3 An example of the transmission coordinate system and the magnetic field generated by the magnetic field generation unit of this embodiment is shown.
[0012] Figure 4 An example of the reception coordinate system of this embodiment and the induced magnetic flux and acceleration of the device to be positioned are shown.
[0013] Figure 5 An example of the constructed coordinate system of this embodiment is shown.
[0014] Figure 6 A block diagram showing another example of the spatial positioning system of this embodiment.
[0015] Figure 7Shows another specific implementation example of the positioning reference device and the device to be positioned in this embodiment.
[0016] Figure 8 Shows a parameter example of the positioning reference device and the device to be positioned in this embodiment.
[0017] Figure 9 Shows other parameter examples of the positioning reference device and the device to be positioned in this embodiment.
[0018] Figure 10 Shows a block diagram of another example of the spatial positioning system in this embodiment.
[0019] Figure 11 Shows a block diagram of another example of the spatial positioning system in this embodiment.
[0020] Figure 12 Shows a flowchart of an example of the spatial positioning method in this embodiment. Detailed implementation manners
[0021] Hereinafter, various exemplary embodiments, features and aspects of the present disclosure will be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.
[0022] The special word "exemplary" herein means "serving as an example, embodiment or illustration". Any embodiment described as "exemplary" herein need not be construed as superior or better than other embodiments.
[0023] In addition, for better illustration of the present disclosure, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present disclosure can also be implemented without some specific details. In some instances, methods, means, elements and circuits well known to those skilled in the art are not described in detail so as to highlight the gist of the present disclosure.
[0024] In the related art, the inside-out tracking is basically achieved through optical tracking. Therefore, the related art has the following problems: the infrared rays emitted by the object to be tracked cannot escape from the shooting range of the camera; if the infrared rays emitted by the object to be tracked are blocked, it is possible to lose the trace of the object to be tracked or affect the tracking accuracy; the tracking accuracy is affected by the ambient light.
[0025] For this reason, considering that the above problems are caused by tracking using the optical principle, therefore, the present disclosure uses a magnetic field that is not affected by light and obstacles for spatial positioning. Thus, it is possible to track the position of the object to be tracked equipped with the device to be positioned without blind spots within the magnetic field induction range and without being affected by light changes, thereby solving the problems described above.
[0026] Figure 1 A block diagram showing an example of the spatial positioning system of this embodiment is shown. As Figure 1 shown, the spatial positioning system 1 includes a positioning reference device 101, a device to be positioned 102, and a processor device 103. Among them, the positioning reference device 101 includes a magnetic field generation unit 1011 that generates a magnetic field signal with a specified frequency. The device to be positioned 102 includes: a sensor unit 1021 that detects magnetic field intensity information corresponding to the position of the device to be positioned 102 and acceleration information corresponding to the attitude of the device to be positioned 102 based on the induction result of the magnetic field signal generated by the magnetic field generation unit 1011; and a transmission unit 1022 that transmits the magnetic field intensity information and acceleration information detected by the sensor unit 1021 to the processor device 103. The processor device 103 includes: a reception unit 1031 that receives the magnetic field intensity information and acceleration information detected by the first sensor unit 1021; and a position determination unit 1032 that determines the position of the device to be positioned 102 relative to the positioning reference device 101 based on the magnetic field intensity information and acceleration information detected by the first sensor unit 1021.
[0027] In this embodiment, the sensor unit 1021 of the device to be positioned 102 only generates induction for the magnetic field signal with a specified frequency generated by the magnetic field generation unit 1011, and does not generate induction for magnetic field signals of other frequencies. Thus, false detection caused by induction to other magnetic field signals can be avoided. Regarding the frequency value of the magnetic field signal, for example, it can be set to 125 KHz, but it is not limited thereto. The user can fully flexibly set this frequency value according to personal preferences and / or actual application scenarios as long as magnetic induction can be performed.
[0028] For example, it can be that the magnetic field generation unit 1011 is a component that generates a magnetic field such as a uniaxial antenna coil (uniaxial solenoid), and correspondingly, the sensor unit 1021 includes components that sense the magnetic field such as a triaxial antenna coil (triaxial solenoid), thereby detecting the magnetic field intensity information at the position of the device to be positioned 102 in the magnetic field generated by the magnetic field generation unit 1011. For example, through the cooperation of a uniaxial transmission antenna coil and a triaxial reception antenna coil, the magnetic field intensity information in the three coordinate axes of the coordinate system with the device to be positioned 102 as the origin and corresponding to the attitude of the device to be positioned 102 at the position where the device to be positioned 102 is located can be obtained.
[0029] In addition, the sensor unit 1021 of the device to be located 102 may further include a multi-axis sensor for detecting acceleration information, such as a three-axis acceleration sensor, a six-axis inertial sensor, or a nine-axis inertial sensor, to detect acceleration information corresponding to the attitude of the device to be located 102. For example, a multi-axis sensor such as a three-axis acceleration sensor or a six-axis inertial sensor can be used to obtain acceleration information corresponding to the attitude of the device to be located 102 in the three coordinate axes of a coordinate system with the device to be located 102 as the origin and corresponding to the attitude of the device to be located 102.
[0030] In the present disclosure, the magnetic field intensity information may be information representing the magnitude of the magnetic induction voltage, magnetic induction current, induced magnetic flux, etc. of the device to be located. The user can flexibly set which magnetic field intensity information is used for spatial positioning according to personal preferences and / or actual application scenarios.
[0031] When the sensor unit 1021 of the device to be located 102 detects the above-mentioned magnetic field intensity information and acceleration information, the transmitting unit 1022 of the device to be located 102 sends the detected magnetic field intensity information and acceleration information to the processor device 103. When the receiving unit 1031 of the processor device 103 receives the above-mentioned magnetic field intensity information and acceleration information from the device to be located 102, the position determination unit 1032 of the processor device 103 determines the position of the device to be located 102 relative to the positioning reference device 101 based on the received magnetic field intensity information and acceleration information.
[0032] For example, the position determination unit 1032 of the processor device 103 can perform calculations based on the magnetic field intensity information and acceleration information detected by the sensor unit 1021 to obtain the position of the device to be located 102 relative to the positioning reference device 101, or can input the magnetic field intensity information and acceleration information detected by the sensor unit 1021 into a pre-stored learning model to obtain the position of the device to be located 102 relative to the positioning reference device 101.
[0033] In addition, the position determination unit 1032 of the processor device 103 may also use the acceleration information corresponding to the attitude of the positioning reference device 101 to determine the position of the device 102 to be positioned relative to the positioning reference device 101. For example, a sensor unit is provided in the positioning reference device 101 to detect the acceleration information corresponding to the attitude of the positioning reference device 101, and the positioning reference device 101 sends the acceleration information detected by the sensor unit to the processor device 103. At this time, the position determination unit 1032 of the processor device 103 may perform calculations based on the magnetic field intensity information and acceleration information received from the device 102 to be positioned and the acceleration information received from the positioning reference device 101 to obtain the position of the device 102 to be positioned relative to the positioning reference device 101, or may also input the magnetic field intensity information and acceleration information received from the device 102 to be positioned and the acceleration information received from the positioning reference device 101 into a pre-stored learning model to obtain the position of the device 102 to be positioned relative to the positioning reference device 101.
[0034] In addition, the position determination unit 1032 of the processor device 103 may also use the angular velocity information corresponding to the attitude of the positioning reference device 101 to determine the position of the device 102 to be positioned relative to the positioning reference device 101. For example, when the sensor unit 1021 also has an angular velocity detection function, the sensor unit 102 not only detects the magnetic field intensity information and acceleration information, but also detects the angular velocity information, and the device 102 to be positioned sends the detected magnetic field intensity, acceleration information, and angular velocity information to the processor device 103. At this time, the position determination unit 1032 of the processor device 103 may perform calculations based on the magnetic field intensity information, acceleration information, and angular velocity information received from the device 102 to be positioned to obtain the position of the device 102 to be positioned relative to the positioning reference device 101, or may also input the magnetic field intensity information, acceleration information, and angular velocity information received from the device 102 to be positioned into a pre-stored learning model to obtain the position of the device 102 to be positioned relative to the positioning reference device 101.
[0035] In addition, the position determination unit 1032 of the processor device 103 can also use the acceleration information corresponding to the attitude of the positioning reference device 101 and the angular velocity information corresponding to the attitude of the positioning reference device to determine the position of the device 102 to be positioned relative to the positioning reference device 101. In this case, the position determination unit 1032 of the processor device 103 can perform calculations based on the magnetic field intensity information, acceleration information, and angular velocity information received from the device 102 to be positioned, as well as the acceleration information received from the positioning reference device 101, to obtain the position of the device 102 to be positioned relative to the positioning reference device 101. Alternatively, the position of the device 102 to be positioned relative to the positioning reference device 101 can be obtained by inputting the magnetic field intensity information, acceleration information, and angular velocity information received from the device 102 to be positioned, as well as the acceleration information received from the positioning reference device 101, into a pre-stored learning model.
[0036] In this embodiment, the position of the device 102 to be positioned relative to the positioning reference device 101 may include at least one of the position of the device 102 in the transmission coordinate system corresponding to the attitude of the positioning reference device 101 with the positioning reference device 101 as the origin and the position of the device in the ground inertial coordinate system with the positioning reference device as the origin.
[0037] Next, taking the magnetic field generation unit as a uniaxial antenna coil and the device to be positioned including a triaxial antenna coil and a triaxial acceleration sensor as an example, a specific implementation example of determining the position of the device to be positioned relative to the positioning reference device according to the magnetic field intensity information and acceleration information detected by the sensor unit of the device to be positioned in this embodiment will be described with reference to the accompanying drawings.
[0038] As Figure 2 shown, the positioning reference device 101 includes a uniaxial antenna coil (hereinafter also referred to as a uniaxial transmission antenna coil) as the magnetic field generation unit, and the device 102 to be positioned includes a triaxial antenna coil (hereinafter also referred to as a triaxial reception antenna coil) and a triaxial acceleration sensor.
[0039] As Figure 3 shown, an alternating current is passed through the uniaxial transmission antenna coil, thereby generating a magnetic field around the uniaxial antenna coil. At this time, a rectangular coordinate system X - Y - Z corresponding to the attitude of the positioning reference device 101 with the positioning reference device 101 as the origin (hereinafter also referred to as the transmission coordinate system), for example, a rectangular coordinate system X - Y - Z with the positioning reference device 101 as the origin and the coil axis direction of the uniaxial transmission antenna coil as the Z axis, can be constructed. In Figure 3 , it is assumed that the position of the positioning reference device 101 in space is fixed, so the position of this transmission coordinate system in space is also fixed. Of course, the positioning reference device 101 can also move in space.
[0040] When the device to be located 102 is in the magnetic field generated by the positioning reference device 101, the magnetic fluxes passing through the X, Y, and Z axes of the three-axis receiving antenna coil of the device to be located 102 will change, resulting in a change in the amplitude of the magnetic flux waveform. As Figure 4 shown, a rectangular coordinate system X-Y-Z corresponding to the attitude of the device to be located 102 (hereinafter also referred to as the receiving coordinate system) with the device to be located 102 as the origin can be constructed. When the three-axis antenna coil of the device to be located 102 is in the magnetic field generated by the single-axis antenna coil of the positioning reference device 101, the three-axis antenna coil of the device to be located 102 outputs voltages U X 、U Y 、U Z on the X, Y, and Z axes of this receiving coordinate system. In addition, the three-axis acceleration sensor of the device to be located 102 outputs corresponding a X 、a Y 、a Z according to the attitude of the device to be located 102.
[0041] Among them, the values of U X 、U Y 、U Z are determined by the magnetic field intensities received by the three-axis receiving antenna coil of the device to be located 102 on the X, Y, and Z axes of the receiving coordinate system. For example, the magnetic field intensity in each axis can be obtained through the following formula.
[0042]
[0043] Among them, B is the magnetic induction intensity, H is the magnetic field intensity, n is the number of turns of the coil per unit length, μ0 is the magnetic permeability of vacuum, μ is a fixed coefficient, I is the coil current, U is the coil voltage, and R is the internal resistance of the coil.
[0044] For example, in the operation of this embodiment, three coordinate systems can be constructed as Figure 5 shown: a rectangular coordinate system X 发 -Y 发- Z 发 (transmission coordinate system) with the positioning reference device 101 as the origin and the coil axis direction of the single-axis transmitting antenna coil of the positioning reference device 101 as the Z axis; a rectangular coordinate system X 发 -Y 发- Z 发 with the position (x0, y0, z0) of the device to be located 102 as the origin and the X, Y, and Z axes respectively parallel to the X, Y, and Z axes of the rectangular coordinate system X 收1 -Y 收1 -Z 收1; A rectangular coordinate system X with the location (x0, y0, z0) of the device to be located 102 as the origin and the X-axis, Y-axis, and Z-axis corresponding to the attitude of the device to be located 102 收2 -Y 收2 -Z 收2 (Receiving coordinate system). Assume that the position and attitude of the positioning reference device 101 in space are fixed. Therefore, the position of the rectangular coordinate system X 发 -Y 发- Z 发 in space is also fixed.
[0045] The attitude of the device to be located 102 can be obtained based on the acceleration a X 、a Y 、a Z detected by the three-axis acceleration sensor of the device to be located 102, so as to obtain the angle θ between the X 收1 -axis and the X 收2 -axis, the angle ψ between the Y 收1 -axis and the Y 收2 -axis, and the angle φ between the Z 收1 -axis and the Z 收2 -axis. And the angle δ between the plane X 收1 -Y 收1 and the plane X 收2 -Y 收2 , the angle β between the plane X 收1 -Z 收1 and the plane X 收2 -Z 收2 , and the angle γ between the plane Y 收1 -Z 收1 and the plane Y 收2 -Z 收2 can be calculated based on θ, ψ, and φ.
[0046] If U X 、U Y 、U Z are set as the magnetic induction intensities in the upward directions of the coordinate axes of the rectangular coordinate system X 收1 -Y 收1 -Z 收1 , then the magnetic field intensities H 收2 -Y 收2 -Z 收2 in the upward directions of the coordinate axes of the rectangular coordinate system X x、 H y、 H z are respectively U X cosδ / μ、U Y cosδ / μ、U Z cosδ / μ. In the magnetic field generated by a single-turn solenoid, the magnetic field intensity at the point (x0, y0, z0) is as follows:
[0047]
[0048] Among them, I is the current passing through the single-turn solenoid, R is the coil radius of the single-turn solenoid, and α is the angle between the straight line connecting the points (0, 0, 0) and (x0, y0, z0) and the X-axis.
[0049] In this embodiment, the position determination unit 1032 of the processor device 103 can obtain the unique coordinates (x0, y0, z0) of the device 102 to be located in the rectangular coordinate system X x、 H y、 H z -Y 发 -Y 发- Z 发 by substituting the included angles δ, β, γ and the magnetic induction intensity H into the above ternary equation for solution, that is, the position of the device 102 to be located relative to the positioning reference device is obtained. Of course, the operation method for calculating the position of the device 102 to be located relative to the positioning reference device by using the magnetic field intensity and acceleration is not limited to this, and a suitable operation method can also be adopted according to needs.
[0050] Since there is a one-to-one correspondence between the combination of the magnetic field intensities H X 、H Y 、H Z and the accelerations a X 、a Y 、a Z and the point (x0, y0, z0) in space. Therefore, a learning model can be constructed through machine learning with U X 、U Y 、U Z 、a X 、a Y 、a Z as the input and the point (x0, y0, z0) in space as the output. The position determination unit 1032 of the processor device 103 can input the data of H X 、H Y 、H Z 、a X 、a Y 、a Z detected by the three-axis receiving antenna coil and the three-axis acceleration sensor into the learning model to automatically derive the coordinates (x0, y0, z0) of the device 102 to be located in the rectangular coordinate system X 发 -Y 发- Z 发 . The learning model can be stored in the processor device 103, or can be stored outside the processor device 103 and obtained by the processor device 103 through communication.
[0051] The spatial positioning system of this embodiment determines the position of the device to be located relative to the positioning reference device based on the magnetic field intensity information detected by the device to be located in the magnetic field generated by the positioning reference device and the acceleration information detected corresponding to the attitude of the device to be located. It can track the position of the object to be tracked equipped with the device to be located without blind spots within the magnetic field induction range, and the tracking accuracy of the object to be tracked is not affected by light changes. Precise tracking can be achieved even in strong light environments, thereby enabling high-precision spatial positioning.
[0052] Since a three-axis acceleration sensor can usually only accurately obtain the attitude of the device to be located when it is static, it is advisable to perform positioning using a three-axis acceleration sensor when the device to be located is static. However, if the three-axis acceleration sensor is replaced with a six-axis inertial sensor or a nine-axis inertial sensor, the Euler angles of the device to be located can be calculated. Therefore, a six-axis inertial sensor or a nine-axis inertial sensor can not only accurately obtain the attitude of the device to be located when it is static, but also accurately obtain the attitude of the device to be located when it is non-static. Therefore, the precise positioning using a six-axis inertial sensor or a nine-axis inertial sensor is not limited to being performed when the device to be located is static, but can also be performed during the non-static movement process of the device to be located.
[0053] Next, taking the positioning reference device including a uniaxial antenna coil and a six-axis inertial sensor, and the device to be located including a three-axis antenna coil and a six-axis inertial sensor as an example, a specific implementation example of determining the position of the device to be located relative to the positioning reference device according to the magnetic field intensity information, acceleration information, and angular velocity information detected by the sensor unit of the device to be located and the acceleration information detected by the sensor unit of the positioning reference device in this embodiment will be described with reference to the accompanying drawings.
[0054] Figure 6 The block diagram of another example of the spatial positioning system of this embodiment is shown. For Figure 6 the spatial positioning system 1 shown, only the differences from Figure 1 the spatial positioning system 1 shown will be described, and the same points as Figure 1 the spatial positioning system 1 shown will be omitted from the description.
[0055] As Figure 6As shown in the figure, the positioning reference device 101 further includes: a sensor unit 1012 that detects acceleration information corresponding to the attitude of the positioning reference device 101, and a transmitting unit 1013 that transmits the acceleration information detected by the sensor unit 1012 to the processor device 103. The receiving unit 1031 of the processor device 103 not only receives the magnetic field intensity information, acceleration information, and angular velocity information detected by the sensor unit 1021 from the device to be positioned 102, but also receives the acceleration information detected by the sensor unit 1012 from the positioning reference device 101. The position determination unit 1032 of the processor device 103 determines the position of the device to be positioned 102 relative to the positioning reference device 101 based on the magnetic field intensity information, acceleration information, and angular velocity information detected by the sensor unit 1021, and the acceleration information detected by the sensor unit 1012.
[0056] Specifically, the position determination unit 1032 of the processor device 103 can perform calculations based on the magnetic field intensity information, acceleration information, and angular velocity information detected by the sensor unit 1021, and the acceleration information detected by the sensor unit 1012 to obtain the position of the device to be positioned 102 relative to the positioning reference device 101. In addition, the position determination unit 1032 of the processor device 103 can also input the magnetic field intensity information, acceleration information, and angular velocity information detected by the sensor unit 1021, and the acceleration information detected by the sensor unit 1012 into a pre-stored learning model to obtain the position of the device to be positioned 102 relative to the positioning reference device 101.
[0057] As Figure 7 shown in the figure, the positioning reference device 101 includes a single-axis transmitting antenna coil and a six-axis inertial sensor, and the device to be positioned 102 includes a three-axis receiving antenna coil and a six-axis inertial sensor. As Figure 8 shown in the figure, the accelerations a 发X 、a 发Y 、a 发Z 、a 收X 、a 收Y 、a 收Z of the three axes of X, Y, and Z and the angular velocities ω 发X 、ω 发Y 、ω 发Z 、ω 收X 、ω 收Y 、ω 收Z about the X, Y, and Z axes can be obtained through the six-axis inertial sensor.
[0058] In the calculations of this embodiment, the following two coordinate systems as shown in Figure 5 can be constructed: a rectangular coordinate system X with the positioning reference device 101 as the origin and the coil axis direction of the single-axis transmitting antenna coil of the positioning reference device 101 as the Z axis发 -Y 发- Z 发 (Transmission coordinate system); a rectangular coordinate system X with the position (x0, y0, z0) of the device to be located 102 as the origin and the X-axis, Y-axis, and Z-axis corresponding to the attitude of the device to be located 102 收2 -Y 收2 -Z 收2 (Receiving coordinate system).
[0059] In this embodiment, it is assumed that the position of the positioning reference device 101 in space is fixed, while the attitude of the positioning reference device 101 is variable. In this case, according to the acceleration a Figure 8 as shown 发X 、a 发Y 、a 发Z 、angular velocity ω 发X 、ω 发Y 、ω 发Z it can be calculated Figure 9 the θ 发 、ψ 发 、φ 发 , θ 发 is the angle between the X 发2 -Y 发2 -Z 发2 axis of the rectangular coordinate system X 发2 with the X 发1 -Y 发1 -Z 发1 axis of the ground inertial coordinate system, ψ 发1 is the angle between the Y 发 axis of the rectangular coordinate system X 发2 -Y 发2 -Z 发2 of this positioning reference device 101 and the Y 发2 axis of the ground inertial coordinate system X 发1 -Y 发1 -Z 发1 , φ 发1 is the angle between the Z 发 axis of the rectangular coordinate system X 发2 -Y 发2 -Z 发2 of this positioning reference device 101 and the Z 发2 axis of the ground inertial coordinate system X 发1 -Y 发1 -Z 发1 . According to the acceleration a 发1 、a 发X 、a 发Y 、a 发Z and the calculated θ 发 、ψ发 and φ 发 to determine the rectangular coordinate system X 发2 -Y 发2- Z 发2 . Then, based on the determined rectangular coordinate system X 发2 -Y 发2- Z 发2 and the detected magnetic field intensities V X , V Y , V Z to determine the position of the device to be located 102 in the rectangular coordinate system X 发2 -Y 发2- Z 发2 .
[0060] In addition, a ground inertial coordinate system X 发1 -Y 发1 -Z 发1 with the positioning reference device 101 as the origin can be constructed to determine the position of the device to be located 102 in the ground inertial coordinate system X 发1 -Y 发1 -Z 发1 . Specifically, after determining the position of the device to be located 102 in the rectangular coordinate system X 发2 -Y 发2- Z 发2 , based on the determined position of the device to be located 102 in the rectangular coordinate system X 发2 -Y 发2- Z 发2 and the calculated θ 发 , ψ 发 , φ 发 to determine the position of the device to be located 102 in the ground inertial coordinate system X 发1 -Y 发1 -Z 发1 .
[0061] In addition, θ Figure 8 shown as the acceleration a 收X , a 收Y , a 收Z , angular velocity ω 收X , ω 收Y , ω 收Z can be calculated. The θ Figure 9 shown is the X 收 of the rectangular coordinate system X 收 -Y 收 -Z 收 with the coil axis of the uniaxial transmitting antenna coil of the device to be located 102 as the Z-axis 收2 -Y 收2 -Z 收2 收2 The angle between the axis and the X-axis of the ground inertial coordinate system 收1 -Y 收1 -Z 收1 is X 收1 of the axis, ψ 收 is the X of this rectangular coordinate system 收2 -Y 收2 -Z 收2 is Y 收2 The angle between the axis and the X-axis of the ground inertial coordinate system 收1 -Y 收1 -Z 收1 is Y 收1 of the axis, φ 收 is the X of this rectangular coordinate system 收2 -Y 收2 -Z 收2 is Z 收2 The angle between the axis and the X-axis of the ground inertial coordinate system 收1 -Y 收1 -Z 收1 is Z 收1 of the axis. According to the acceleration a 收X 、a 收Y 、a 收Z and the calculated θ 收 、ψ 收 、φ 收 to determine the rectangular coordinate system X 收2 -Y 收2 -Z 收2 .
[0062] In addition, since the nine-axis inertial sensor can directly obtain θ 发 、ψ 发 、θ 收 , so it can directly obtain θ 发 、ψ 发 、θ 收 by using a nine-axis inertial sensor in the device to be located 102, thereby reducing the load of arithmetic processing and the time spent in arithmetic, and achieving efficient positioning.
[0063] As described above, the position of the device to be located relative to the positioning device can be derived using the learning model. To improve the arithmetic accuracy of positioning, the processor device 103 can be as Figure 10As shown, it includes a model update unit 1033 for re-learning the learning model. For example, the model update unit 1033 can take the magnetic field intensity information and acceleration information detected by the sensor unit 1021 as inputs to re-learn the learning model and update it, or can take the magnetic field intensity information and acceleration information detected by the sensor unit 1021, as well as the acceleration information detected by the sensor unit 1012 as inputs to re-learn the learning model and update it, or can take the magnetic field intensity information, acceleration information and angular velocity information detected by the sensor unit 1021 as inputs to re-learn the learning model and update it, or can take the magnetic field intensity information, acceleration information and angular velocity information detected by the sensor unit 1021, as well as the acceleration information detected by the sensor unit 1012 as inputs to re-learn the learning model and update it. Regarding Figure 10 For other units, reference can be made to Figure 1 and Figure 6 for the description, and the description is omitted here.
[0064] The spatial positioning system of this embodiment determines the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information detected by the device to be positioned in the magnetic field generated by the positioning reference device, as well as the detected acceleration information and angular velocity information corresponding to the attitude of the device to be positioned. Thus, whether the device to be positioned is static or dynamic, the position of the device to be positioned can be accurately determined, thereby achieving high-precision spatial positioning.
[0065] The spatial positioning system of this embodiment determines the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information detected by the device to be positioned in the magnetic field generated by the positioning reference device, as well as the detected acceleration information corresponding to the attitude of the device to be positioned and the acceleration information corresponding to the attitude of the positioning reference device. Thus, during the positioning process, even if the attitude of the positioning reference device changes, the position of the device to be positioned relative to the positioning reference device can be accurately determined, thereby achieving high-precision spatial positioning.
[0066] Regarding the application scenarios of the spatial positioning system of the present disclosure, it can be that the positioning reference device 101 is arranged in a head-mounted intelligent device such as an XR head-mounted device (including a VR head-mounted device and an AR head-mounted device), and the device to be positioned 102 is arranged in a handle device such as an XR handle device (including a VR handle device and an AR handle device) that can be communicatively connected to the head-mounted intelligent device. Additionally, conversely, the positioning reference device 101 can be arranged in a handle device such as an XR handle device that can be communicatively connected to the head-mounted intelligent device, and the device to be positioned 102 can be arranged in a head-mounted intelligent device such as an XR head-mounted device. Moreover, the processor device 103 can be arranged in a head-mounted intelligent device such as an XR head-mounted device, or it can be arranged in a manner independent of the head-mounted intelligent device and the handle device, for example, arranged in a remote server such as the cloud. By applying the spatial positioning system of the present disclosure in the head-mounted intelligent device and the handle device, the position and posture of the handle device relative to the head-mounted intelligent device can be accurately determined, thereby enabling the head-mounted intelligent device to accurately track the movement trajectory of the handle device.
[0067] In addition, if the magnetic field range generated by the magnetic field generation unit 1011 of the positioning reference device 101 is larger, the magnetic induction sensitivity of the sensor unit 1021 of the device to be positioned 102 is higher, and thus the positioning accuracy for the device to be positioned 102 is higher. However, as the magnetic field range generated by the magnetic field generation unit 1011 of the positioning reference device 101 expands, the power consumption of the magnetic field generation unit 1011 also correspondingly increases. Therefore, it is necessary to appropriately set the magnetic field range generated by the magnetic field generation unit 1011 and the power consumption of the magnetic field generation unit 1011. When the positioning reference device is arranged in the head-mounted intelligent device and the device to be positioned 102 is arranged in the handle device, since the handle device is held by the user for operation, the maximum distance between the handle device and the head-mounted intelligent device should theoretically be the user's arm length. Therefore, it is possible to consider determining the magnetic field range and power consumption generated by the magnetic field generation unit 1011 based on the user's arm length.
[0068] Preferably, as Figure 11 shown, the positioning reference device 101 further includes an arm length acquisition unit 1014, and the arm length acquisition unit 1014 acquires the arm length of the user holding the handle device. The magnetic field generation unit 1011 generates a magnetic field signal in such a manner that the minimum magnetic field intensity among the magnetic field intensities at each position corresponding to the arm length away from the positioning reference device 101 is the specified intensity. Regarding Figure 11 the other units, reference can be made to Figure 1 and Figure 6 for the description, and the description is omitted here.
[0069] Regarding the implementation of the arm length acquisition unit 1014, various implementation methods can be adopted. For example, it can be that the head-mounted intelligent device has an input unit for inputting the arm length of the user, and the arm length acquisition unit 1014 acquires the data of the arm length input by the user through the input unit. Additionally, it can also be that the head-mounted intelligent device has a camera, and by capturing an image of the user holding the handle device, the arm length of the user is determined based on this image and through a specified algorithm. Moreover, it can also be that the head-mounted intelligent device accesses the user's profile stored in the database to acquire the data of the arm length of the user holding the handle device, and outputs this data to the magnetic field generation unit 1011.
[0070] Regarding the above-mentioned specified intensity, it can be set according to actual needs or experimental data, and it is preferably higher than the lower limit value that the sensor unit 1021 can sensitively sense. Additionally, the distance corresponding to the arm length can be the arm length itself, or it can also be the distance obtained by performing operations on the arm length.
[0071] When the power consumption of the magnetic field generation unit 1011 is always set to a fixed value, it may cause waste of electricity when the arm of the user holding the handle device is too short, and the magnetic field cannot be sensed when the arm of the user holding the handle device is too long. Additionally, if the power consumption of the magnetic field generation unit 1011 is set too large in order to deal with the situation where the magnetic field cannot be sensed when the arm of the user holding the handle device is too long, it will also cause waste of electricity. The present disclosure can generate an appropriate magnetic field that matches the actual arm length of the user by setting the power consumption of the magnetic field generation unit 1011 based on the maximum distance based on the arm length of the user actually operating the handle device.
[0072] The above-mentioned head-mounted intelligent device and handle device are only an example of the application scenario of the spatial positioning system of the present disclosure. The application scenario of the spatial positioning system of the present disclosure is not limited to this, and any scenario that can use magnetic fields for positioning can be applied. For example, it can also be applied to the position alignment of a wirelessly charged electric vehicle and a charging pile. Specifically, the positioning reference device 101 can be set on the charging pile with a wireless power supply coil, and the positioning device 102 can be set in the electric vehicle with a wireless power receiving coil. Or, conversely, the positioning reference device 101 can be set in the electric vehicle with a wireless power receiving coil, and the positioning device 102 can be set on the charging pile with a wireless power supply coil. At this time, the processor device 103 can be set in the electric vehicle or the charging pile, or it can also be set in a manner independent of the electric vehicle and the charging pile, such as being set in a remote server such as the cloud.
[0073] In addition, when the positioning reference device is set on the charging pile and the device to be positioned is set on the electric vehicle, generally multiple charging piles are set in the charging station. At this time, the magnetic field ranges generated by the positioning reference devices of each charging pile can be determined according to the distances between the charging piles, so as to avoid the magnetic field ranges generated by the positioning reference devices of each charging pile from conflicting with each other and causing a decrease in the positioning accuracy of the electric vehicle.
[0074] Figure 12 The flowchart showing an example of the spatial positioning method of this embodiment is as follows. As Figure 12 shown, the spatial positioning method of this embodiment includes the following steps:
[0075] Step S1301 (magnetic field detection step): The device to be positioned obtains, through the first sensor, the magnetic field intensity information corresponding to the position of the device to be positioned detected according to the induction result of the magnetic field signal.
[0076] The specific implementation manner in which the device to be positioned detects the magnetic field intensity information through the first sensor has been described above and will not be elaborated here.
[0077] Step S1302 (acceleration detection step): The device to be positioned detects, through the second sensor, the acceleration information corresponding to the attitude of the device to be positioned.
[0078] In addition, steps S1301 and S1302 can be executed simultaneously, or step S1301 can be executed first and then step 1302, or step 1302 can be executed first and then step S1301.
[0079] The specific implementation manner in which the device to be positioned detects the magnetic field intensity information through the second sensor has been described above and will not be elaborated here.
[0080] Step S1303 (position determination step), the processor device determines the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information and acceleration information detected by the device to be positioned.
[0081] The specific implementation manner in which the processor device determines the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information and acceleration information detected by the device to be positioned has been described above and will not be elaborated here.
[0082] The spatial positioning method of this embodiment determines the position of the device to be located relative to the positioning reference device by based on the magnetic field intensity information detected by the device to be located in the magnetic field generated by the positioning reference device and the acceleration information detected corresponding to the attitude of the device to be located. It can track the position of the object to be tracked equipped with the device to be located without blind spots within the magnetic field induction range, and the tracking accuracy of the object to be tracked is not affected by light changes, and precise tracking can be achieved even in a strong light environment. Therefore, high-precision spatial positioning can be realized.
[0083] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skill in the art in the technical field to understand the embodiments disclosed herein.
Claims
1. A spatial positioning system, characterized in that, Comprising a positioning reference device, a device to be positioned, and a processor device, The positioning reference device includes a magnetic field generating unit that generates a magnetic field signal with a specified frequency, The device to be positioned includes: A first sensor unit that detects magnetic field intensity information corresponding to the position of the device to be positioned and acceleration information corresponding to the attitude of the device to be positioned based on the induction result of the magnetic field signal; and A first transmitting unit that transmits the magnetic field intensity information and acceleration information detected by the first sensor unit to the processor device, The processor device includes: A receiving unit that receives the magnetic field intensity information and acceleration information detected by the first sensor unit; and A position determination unit that determines the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information and acceleration information detected by the first sensor unit.
2. The spatial positioning system according to claim 1, characterized in that, The positioning reference device further includes: A second sensor unit that detects acceleration information corresponding to the attitude of the positioning reference device; and A second transmitting unit that transmits the acceleration information detected by the second sensor unit to the processor device, wherein the receiving unit receives the acceleration information detected by the second sensor unit from the positioning reference device, The position determination unit obtains the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information and acceleration information detected by the first sensor unit and the acceleration information detected by the second sensor unit. The position of the device to be positioned relative to the positioning reference device includes at least one of the position of the device to be positioned in a transmission coordinate system corresponding to the attitude of the positioning reference device with the positioning reference device as the origin and the position of the device to be positioned in a ground inertial coordinate system with the positioning reference device as the origin.
3. The spatial positioning system according to claim 1, characterized in that, The first sensor unit further detects angular velocity information corresponding to the attitude of the device to be positioned, The receiving unit receives the angular velocity information detected by the first sensor unit from the device to be positioned, The position determination unit obtains the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information, acceleration information, and angular velocity information detected by the first sensor unit.
4. The spatial positioning system according to claim 2, characterized in that, The first sensor unit further detects angular velocity information corresponding to the attitude of the device to be positioned, The receiving unit receives the angular velocity information detected by the first sensor unit from the device to be positioned, The position determination unit obtains the position of the device to be positioned relative to the positioning reference device based on the magnetic field intensity information, acceleration information, and angular velocity information detected by the first sensor unit and the acceleration information detected by the second sensor unit.
5. The spatial positioning system according to claim 1, characterized in that, The position determination unit obtains the position of the device to be positioned relative to the positioning reference device by inputting the magnetic field intensity information and acceleration information detected by the first sensor unit into a pre-stored learning model.
6. The spatial positioning system according to claim 5, characterized in that, The positioning reference device further includes: a second sensor unit that detects acceleration information corresponding to the attitude of the positioning reference device; and a second transmitting unit that transmits the acceleration information detected by the second sensor unit to the processor device, wherein the receiving unit receives the acceleration information detected by the second sensor unit from the positioning reference device, the position determination unit obtains the position of the device to be located relative to the positioning reference device by inputting the magnetic field intensity information and acceleration information detected by the first sensor unit, and the acceleration information detected by the second sensor unit into the learning model, and the position of the device to be located relative to the positioning reference device includes at least one of the position of the device to be located in a transmission coordinate system corresponding to the attitude of the positioning reference device with the positioning reference device as the origin and the position of the device to be located in a ground inertial coordinate system with the positioning reference device as the origin.
7. The spatial positioning system according to claim 5, characterized in that, The first sensor unit further detects angular velocity information corresponding to the attitude of the device to be located, the receiving unit receives the angular velocity information detected by the first sensor unit from the device to be located, the position determination unit obtains the position of the device to be located relative to the positioning reference device by inputting the magnetic field intensity information, acceleration information, and angular velocity information detected by the first sensor unit into the learning model.
8. The spatial positioning system according to claim 6, characterized in that, The first sensor unit further detects angular velocity information corresponding to the attitude of the device to be located, the receiving unit receives the angular velocity information detected by the first sensor unit from the device to be located, the position determination unit obtains the position of the device to be located relative to the positioning reference device by inputting the magnetic field intensity information, acceleration information, and angular velocity information detected by the first sensor unit, and the acceleration information detected by the second sensor unit into the learning model.
9. The spatial positioning system according to claim 5, wherein, The processor device further includes a model update unit that updates the learning model by re-learning the learning model with the magnetic field intensity information and acceleration information detected by the first sensor unit as inputs.
10. The spatial positioning system according to claim 1, wherein, The magnetic field generating unit is composed of a uniaxial transmitting antenna coil, the first sensor unit is composed of a three-axis antenna coil and a three-axis acceleration sensor, or composed of a three-axis antenna coil and a six-axis inertial sensor, or composed of a nine-axis inertial sensor.
11. The spatial positioning system according to any one of claims 1 to 10, wherein, The positioning reference device is provided in a head-mounted intelligent device, and the device to be located is provided in a handle device that can be communicatively connected to the head-mounted intelligent device, the processor device is provided in the head-mounted intelligent device or provided in a manner independent of the head-mounted intelligent device and the handle device.
12. The spatial positioning system according to any one of claims 1 to 10, wherein, The positioning reference device is provided in one of an electric vehicle having a wireless power receiving coil and a charging pile having a wireless power supply coil, and the device to be located is provided in the other of the electric vehicle and the charging pile, the processor device is provided in the electric vehicle or the charging pile, or provided in a manner independent of the electric vehicle and the charging pile.
13. A spatial positioning method, wherein, Comprising: Magnetic field detection step, the device to be located obtains magnetic field intensity information corresponding to the position of the device to be located detected according to the induction result of the magnetic field signal through the first sensor; Acceleration detection step, the device to be located detects acceleration information corresponding to the attitude of the device to be located through the second sensor; Position determination step, the processor device determines the position of the device to be located relative to the positioning reference device based on the magnetic field intensity information and acceleration information detected by the device to be located.