Augmented reality theme park construction system and method based on Beidou satellite positioning

Abstract

The invention discloses an augmented reality theme park construction system and method based on Beidou satellite positioning, and relates to the technical field of intelligent travel equipment, the system comprises a Beidou positioning module, a central processing module, an AR display module, an inertial measurement unit module, a storage module and a communication module; wherein the Beidou positioning module transmits initial positioning data to the central processing module through a UART (Universal Asynchronous Receiver / Transmitter) serial port, the inertial measurement unit module transmits equipment attitude data to the central processing module through an I2C bus, and the communication module transmits cloud data to the central processing module through a USB (Universal Serial Bus); the storage module provides virtual scene data for the central processing module through an SPI bus, and the central processing module transmits a rendering instruction to the AR display module through a GPIO bus, displays a virtual-real fusion picture according to the rendering instruction, and transmits a touch instruction to the central processing module through an I2C bus. According to the invention, the smoothness and reality of AR experience can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent travel equipment, in particular to a Beidou satellite positioning-based augmented reality theme park construction system and method. BACKGROUND

[0002] In recent years, with the rapid development of augmented reality (AR) technology, its application in entertainment scenarios such as theme parks has become increasingly widespread. AR technology can combine virtual content with real environments to provide visitors with more immersive interactive experiences. However, existing AR systems still have many technical bottlenecks in actual application, such as positioning delays, unnatural virtual-real fusion, and other issues, which seriously affect user experience. The root cause of these problems lies in the deficiencies in the system architecture design, especially the low data transmission efficiency between functional modules and the lack of optimization of control logic, which results in the overall response speed failing to meet the needs of real-time interaction. SUMMARY

[0003] The purpose of the present application is to provide a Beidou satellite positioning-based augmented reality theme park construction system and method that can improve the smoothness and realism of AR experiences.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0005] In a first aspect, the present application provides a Beidou satellite positioning-based augmented reality theme park construction system, comprising:

[0006] a Beidou positioning module connected to the central processing module through a UART serial port, configured to receive Beidou satellite signals and obtain initial positioning data based on the Beidou satellite signals, and transmit the initial positioning data to the central processing module;

[0007] an inertial measurement unit module connected to the central processing module through an I2C bus, configured to detect device attitude data in real time and transmit the device attitude data to the central processing module;

[0008] a communication module connected to the central processing module through a USB bus, configured to exchange data with a cloud server through a wireless network, obtain cloud data, and transmit the cloud data to the central processing module; the cloud data includes ground-based augmentation station differential data;

[0009] a storage module connected to the central processing module through an SPI bus, configured to obtain centimeter-level positioning data and provide virtual scene data to the central processing module based on the centimeter-level positioning data;

[0010] The central processing module is configured to correct initial positioning data based on differential data of the ground-based augmentation station to obtain centimeter-level positioning data, and perform a fusion operation on the device attitude data, the centimeter-level positioning data, and virtual scene data corresponding to the centimeter-level positioning data to obtain rendering instructions, and transmit the rendering instructions to the AR display module through a GPIO bus.

[0011] The AR display module is configured to display a virtual-real fusion picture according to the rendering instructions, and obtain a touch instruction of a user and transmit the touch instruction to the central processing module through an I2C bus. The touch instruction is used for dynamically updating the rendering instructions by the central processing module.

[0012] Optionally, the Beidou positioning module comprises a Hecstar UB380 unit. The Hecstar UB380 unit supports a Beidou No. 3 multi-frequency positioning chip. The static positioning accuracy of the positioning chip is less than or equal to 2 cm, and the dynamic positioning accuracy is less than or equal to 5 cm.

[0013] Optionally, the cloud data further comprises updated virtual scene data. The communication module is further configured to obtain the updated virtual scene data from the cloud server through a wireless network and store the updated virtual scene data in the storage module through an SPI bus.

[0014] Optionally, the Beidou satellite positioning-based augmented reality theme park construction system further comprises a power management module configured to provide hierarchical power supply for the Beidou positioning module, the inertial measurement unit module, the communication module and the central processing module through a multi-way output interface of an LDO / DC-DC conversion circuit. The central processing module is connected to an adjustable voltage output end of the LDO / DC-DC conversion circuit, the inertial measurement unit module and the Beidou positioning module are both connected to a 3.3V LDO output end of the LDO / DC-DC conversion circuit, and the communication module is connected to a 5V DC-DC output end of the LDO / DC-DC conversion circuit.

[0015] Optionally, the power management module is further configured to stop power supply to the Beidou positioning module and the communication module according to a GPIO control signal of the central processing module when the inertial measurement unit module detects that the device attitude data has not changed for more than 5 minutes.

[0016] Optionally, the AR display module is further configured to receive the rendering instructions through a MIP IDSI interface and display a virtual-real fusion picture according to the rendering instructions.

[0017] Optionally, the device attitude data comprises three-axis acceleration data and three-axis angular velocity data. The central processing module is further configured to calculate a spatial orientation of a virtual object based on the three-axis acceleration data and the three-axis angular velocity data.

[0018] In a second aspect, the application provides a method for constructing an augmented reality theme park based on Beidou satellite positioning, comprising:

[0019] The Beidou positioning module receives a Beidou satellite signal, obtains initial positioning data based on the Beidou satellite signal, and transmits the initial positioning data to the central processing module;

[0020] The inertial measurement unit module detects device attitude data in real time and transmits the device attitude data to the central processing module;

[0021] The communication module exchanges data with a cloud server through a wireless network, obtains cloud data, and transmits the cloud data to the central processing module; the cloud data includes ground-based augmentation station differential data;

[0022] The storage module obtains centimeter-level positioning data and provides virtual scene data to the central processing module based on the centimeter-level positioning data;

[0023] The central processing module corrects the initial positioning data based on the ground-based augmentation station differential data to obtain centimeter-level positioning data, and performs a fusion operation on the device attitude data, the centimeter-level positioning data, and virtual scene data corresponding to the centimeter-level positioning data to obtain rendering instructions, and transmits the rendering instructions to the AR display module through a GPIO bus;

[0024] The AR display module displays a virtual-real fusion picture based on the rendering instructions and obtains a user's touch instruction, and transmits the touch instruction to the central processing module through an I2C bus; the touch instruction is used for dynamically updating the rendering instructions by the central processing module.

[0025] According to the embodiments of the application, the following technical effects are disclosed:

[0026] The application provides an augmented reality theme park construction system and method based on Beidou satellite positioning. The central processing module combines ground-based augmentation station differential data of cloud data to correct initial positioning data, so that centimeter-level positioning accuracy can be achieved, and the system is suitable for application scenarios of high-precision positioning. Meanwhile, the central processing module can not only correct positioning data, but also fuse data from different modules (such as device posture, positioning data and virtual scene data) to generate rendering instructions. This data fusion technology improves the interactivity of virtual and real environments, making augmented reality display more natural and accurate. Moreover, the AR display module realizes the display of the virtual-real fusion picture according to the rendering instructions, can provide rich interactive experience, and through the acquisition and transmission of touch instructions, the central processing module can dynamically update the rendering effect, thereby providing more flexible and interactive user experience. In addition, the system design adopts multiple types of connections (UART serial port, I2C bus, SPI bus, USB bus and GPIO bus, etc.). These transmission methods make the data transmission and communication between modules efficient and flexible, improve the overall response speed, and meet the real-time interaction requirements. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 A functional module schematic diagram of an augmented reality theme park construction system based on Beidou satellite positioning provided for Embodiment 1 of the present application.

[0029] Figure 2 A flowchart of an augmented reality theme park construction method based on Beidou satellite positioning provided for Embodiment 2 of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0032] Example 1

[0033] In one exemplary embodiment, such as Figure 1 As shown, an augmented reality theme park construction system based on BeiDou satellite positioning is provided. The system uses a central processing module (touchscreen feedback core) as the hub and interconnects modules through multiple buses. Specifically, it includes:

[0034] The BeiDou positioning module connects to the central processing module via a UART serial port. It receives BeiDou satellite signals via an antenna, calculates initial positioning data (longitude, latitude, and altitude) internally based on these signals, and transmits the initial positioning data to the central processing module. The BeiDou positioning module and the central processing module use an opto-isolated UART interface to suppress electromagnetic interference.

[0035] The inertial measurement unit module is connected to the central processing module via the I2C bus. It is used to detect the device's attitude data in real time and transmit the device's attitude data to the central processing module.

[0036] The communication module connects to the central processing module via a USB bus and is used to exchange data with the cloud server via a wireless network, obtain cloud data, and transmit the cloud data to the central processing module.

[0037] The storage module is connected to the central processing module via the SPI bus. It is used to acquire centimeter-level positioning data and provide virtual scene data to the central processing module based on the centimeter-level positioning data.

[0038] The central processing module is used to correct the initial positioning data based on the differential data of the ground-based augmentation station in the cloud data to obtain centimeter-level positioning data. It also performs a fusion operation on the device attitude data, centimeter-level positioning data and the virtual scene data corresponding to the centimeter-level positioning data to obtain rendering instructions, and transmits the rendering instructions to the AR display module through the GPIO bus.

[0039] The AR display module is used to display a virtual-real fusion image according to rendering instructions, and to obtain the user's touch instructions. The touch instructions are transmitted to the central processing module via the I2C bus. The touch instructions are used by the central processing module to dynamically update the rendering instructions.

[0040] The power management module is used for accessing external power supply or lithium battery through the DC power input interface, and providing hierarchical power supply for the Beidou positioning module, the inertial measurement unit module, the communication module and the central processing module through the multi-way output interface of the LDO / DC-DC conversion circuit; wherein: the central processing module is connected to the adjustable voltage output end of the LDO / DC-DC conversion circuit, the inertial measurement unit module and the Beidou positioning module are both connected to the 3.3V LDO output end of the LDO / DC-DC conversion circuit; the communication module is connected to the 5V DC-DC output end of the LDO / DC-DC conversion circuit. The power management module and the sensitive circuit (such as the AR display module) adopt independent power supply circuits to reduce the influence of power supply noise.

[0041] The list of system component modules and the electrical connection relationship are shown in Table 1:

[0042] Table 1: List of system component modules and electrical connection relationship

[0043]

[0044]

[0045] Further, the cloud data includes updated virtual scene data; the communication module is further used for obtaining the updated virtual scene data from the cloud server through the wireless network and storing the updated virtual scene data to the storage module through the SPI bus.

[0046] The power management module is further used for stopping the power supply to the Beidou positioning module and the communication module when the inertial measurement unit module detects that the device posture data does not change for more than 5 minutes, according to the GPIO control signal of the central processing module (i.e. through the GPIO pin to control the sleep mode of the power management module), while maintaining the low-power kernel of the central processing module and the operation of the inertial measurement unit module.

[0047] Further, the AR display module is further used for receiving rendering instructions through the MIP IDSI interface, and displaying the virtual-real fusion picture according to the rendering instructions; the touch operation is returned to the central processing module through the I2C bus, triggering the interaction event (such as clicking the virtual button).

[0048] Further, the device posture data includes three-axis acceleration data and three-axis angular velocity data; the central processing module is further used for calculating the spatial orientation of the virtual object based on the three-axis acceleration data and the three-axis angular velocity data (pitch angle, yaw angle).

[0049] In the AR construction system of the theme park in the prior art, the core function modules such as positioning, rendering and interaction usually adopt a loose connection mode, the data flow path is long, and there is a lack of efficient collaborative control mechanism. For example, the real-time position information of the visitor may not be updated in time due to transmission delay, resulting in deviation of the superposition of virtual content; at the same time, the feedback of the interaction instruction also lags behind, making the virtual-real combined experience appear stiff. These problems not only reduce the user's sense of immersion, but also restrict the further promotion of AR technology in the entertainment field. In view of this, the central processing module is combined with the differential data of the ground enhancement station of the cloud data to correct the initial positioning data, which can realize centimeter-level positioning accuracy and is suitable for application scenarios with high-precision positioning. At the same time, the central processing module can not only correct the positioning data, but also fuse the data (such as device posture, positioning data and virtual scene data) from different modules to generate rendering instructions. This data fusion technology improves the interactivity of virtual and real environments, making the augmented reality display more natural and accurate. Moreover, the AR display module realizes the display of the virtual-real integrated picture according to the rendering instructions, which can provide rich interactive experience, and through the acquisition and transmission of the touch instruction, the central processing module can dynamically update the rendering effect, thereby providing more flexible and interactive user experience. In addition, the system design adopts multiple types of connections (UART serial port, I2C bus, SPI bus, USB bus and GPIO bus, etc.). These transmission methods make the data transmission and communication between modules efficient and flexible, improve the overall response speed, and meet the real-time interaction requirements.

[0050] Embodiment 2

[0051] In an exemplary embodiment, as shown in Figure 2 A Beidou satellite positioning-based augmented reality theme park construction method is provided, comprising:

[0052] The Beidou positioning module receives the Beidou satellite signal, obtains initial positioning data according to the Beidou satellite signal, and transmits the initial positioning data to the central processing module.

[0053] The inertial measurement unit module detects the device posture data in real time and transmits the device posture data to the central processing module.

[0054] The communication module exchanges data with the cloud server through a wireless network, obtains cloud data, and transmits the cloud data to the central processing module.

[0055] The storage module obtains centimeter-level positioning data and provides virtual scene data to the central processing module according to the centimeter-level positioning data.

[0056] The central processing module corrects the initial positioning data based on differential data of ground-based augmentation stations in cloud data to obtain centimeter-level positioning data, and performs fusion operation on device attitude data, the centimeter-level positioning data, and virtual scene data corresponding to the centimeter-level positioning data to obtain rendering instructions, and transmits the rendering instructions to the AR display module through a GPIO bus.

[0057] The AR display module displays a virtual-real fusion picture according to the rendering instructions, and acquires a touch instruction of a user and transmits the touch instruction to the central processing module through an I2C bus; the touch instruction is used for dynamically updating the rendering instructions by the central processing module.

[0058] Embodiment 3

[0059] In an exemplary embodiment, a control method of an augmented reality theme park construction system based on Beidou satellite positioning is provided, comprising:

[0060] 1. Device startup: the user presses the power key, the power management module starts to work, the LDO / DC-DC conversion circuit supplies power for the central processing module, then the 5V / 3.3V output interface activates the IMU module and the Beidou positioning module, and the communication module is started through the 5V interface.

[0061] 2. Positioning and initialization: the Beidou positioning module sends initial positioning data (longitude, latitude, and altitude) to the central processing module through a UART serial port, the central processing module analyzes the data and acquires differential data of ground-based augmentation stations (if the accuracy needs to be improved) through the USB bus instruction communication module. At the same time, the IMU module transmits device attitude data through an I2C bus for the central processing module to perform device attitude calibration.

[0062] 3. Scene loading: the central processing module acquires virtual scene files (such as models and textures) corresponding to the theme park area from the storage module through an SPI bus according to the positioning data, and sends rendering instructions to the AR display module through a GPIO bus to superimpose virtual content on the real picture.

[0063] 4. Interactive experience: the user interacts with the virtual content through the touch interface of the AR display module (the signal is returned through the I2C bus), such as clicking a virtual button and dragging a virtual object. The central processing module processes the interactive signal in real time, dynamically adjusts the virtual scene display in combination with the attitude data (such as rotation and inclination) of the IMU module.

[0064] 5. Data updating and synchronization: if new virtual scene or task information needs to be acquired, the central processing module connects the cloud server through the USB bus instruction communication module, downloads the update data and stores it in the storage module (through the SPI bus).

[0065] 6. End of use: the user turns off the device, the power management module cuts off all power supply, and the system enters the shutdown state.

[0066] The existing AR travel system relies on GPS (positioning error of 5-10 meters), resulting in a large deviation in aligning virtual content with real scenes, and poor user experience. The application adopts Beidou No. 3 multi-frequency positioning technology (and chip UB380 module), combined with RTK differential positioning algorithm, to improve the positioning accuracy to centimeter level (static ≤2cm, dynamic ≤5cm). Through independent UART serial port connection with the central processing module, real-time transmission of positioning data is ensured.

[0067] Moreover, the traditional system uses a single SPI or I2C bus to transmit multiple types of data, resulting in communication congestion and high delay (such as low update frequency of attitude data). The application adopts a bus separation strategy:

[0068] The I2C bus (400kHz) is dedicated to IMU attitude data transmission, ensuring 100Hz real-time update;

[0069] The SPI bus (50Mbps) transmits large data volume content such as virtual models at high speed;

[0070] The USB bus (3.6Gbps) supports high-speed interaction between the communication module and the cloud.

[0071] In addition, AR devices need to run multiple modules (positioning, display, communication) simultaneously, and traditional designs lack intelligent power management, resulting in insufficient battery life. The application adopts a hierarchical sleep strategy: when the IMU detects that the device is stationary (acceleration ≤0.1m / s 2 ) for more than 5 minutes, the Beidou positioning module and communication module are automatically turned off; only the central processing module low-power kernel and IMU are kept running, reducing sleep power consumption from 5W to 0.5W.

[0072] The application realizes centimeter-level positioning, making virtual content perfectly integrated with real scenes (such as aligning virtual statues with real pedestals), and providing a more immersive interactive experience. The positioning response delay is reduced from >200ms in traditional systems to ≤100ms, an increase of more than 50%. The bus separation design reduces data conflicts, and the device attitude data update frequency is increased from 50Hz in traditional systems to 100Hz, making virtual object following more smooth. Power management optimization extends the device battery life by 3 times (from 2 hours to more than 6 hours).

[0073] The application is suitable for theme park / attraction guide, such as superimposing virtual tour guides, historical figures or interactive games in specific geographic areas, and users can experience it through AR glasses. It is also suitable for cultural heritage protection and display: virtual restoration of historical sites and cultural relics (such as 3D reconstruction of the Summer Palace), and users can view the original appearance through AR devices.

[0074] Any combination of the technical features of the above embodiments can be made, and for the sake of brevity, not all possible combinations are described in the above description. However, it should be understood that the scope of the specification includes all possible combinations of the technical features.

[0075] The principles and implementations of the present application have been described in specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation and application range will have changes. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A Beidou satellite positioning-based augmented reality theme park construction system, characterized in that, Comprise: Beidou positioning module, through UART serial port and central processing module connection, for receiving Beidou satellite signal, and according to Beidou satellite signal, get initial positioning data, and initial positioning data is transmitted to central processing module; Inertial measurement unit module, through I2C bus and central processing module connection, for real-time detection device attitude data, and device attitude data is transmitted to central processing module; Communication module, through USB bus and central processing module connection, for through wireless network and cloud server data exchange, get cloud data, and cloud data is transmitted to central processing module;The cloud data includes ground-based augmentation station differential data; Storage module, through SPI bus and central processing module connection, for obtaining centimeter level positioning data, and according to centimeter level positioning data, virtual scene data is provided to central processing module; Central processing module, for based on ground-based augmentation station differential data, initial positioning data is corrected, get centimeter level positioning data, and device attitude data, centimeter level positioning data and centimeter level positioning data corresponding virtual scene data are fused, get rendering instruction, and rendering instruction is transmitted to AR display module through GPIO bus; AR display module, for according to rendering instruction, display virtual-real fusion picture, and get user's touch instruction, touch instruction is transmitted to central processing module through I2C bus;The touch instruction is used for central processing module to dynamically update rendering instruction. 2.The Beidou satellite positioning-based augmented reality theme park construction system according to claim 1, characterized in that, The Beidou positioning module comprises and star UB380 unit, the Beidou positioning module comprises and star UB380 unit supports Beidou three multi-frequency positioning chip, the static positioning accuracy of the positioning chip is less than or equal to 2 cm, and the dynamic positioning accuracy is less than or equal to 5 cm. 3.The Beidou satellite positioning based augmented reality theme park building system according to claim 1, characterized in that, The cloud data further comprises updated virtual scene data;The communication module is also used for obtaining updated virtual scene data from the cloud server through the wireless network, and storing to the storage module through the SPI bus. 4.The Beidou satellite positioning-based augmented reality theme park construction system according to claim 1, characterized in that, Further comprise: Power management module, for providing hierarchical power supply for Beidou positioning module, inertial measurement unit module, communication module and central processing module through LDO / DC-DC conversion circuit multiway output interface;Among them: central processing module is connected to the adjustable voltage output end of LDO / DC-DC conversion circuit, inertial measurement unit module and Beidou positioning module are connected to the 3.3 VLDO output end of LDO / DC-DC conversion circuit;Communication module is connected to the 5V DC-DC output end of LDO / DC-DC conversion circuit. 5.The Beidou satellite positioning-based augmented reality theme park construction system according to claim 4, characterized in that, The power management module is also used for stopping power supply for Beidou positioning module and communication module according to the GPIO control signal of central processing module when inertial measurement unit module detects that device attitude data does not change for more than 5 minutes. 6.The Beidou satellite positioning based augmented reality theme park building system according to claim 1, characterized in that, The AR display module is also used for receiving rendering instruction through MIPIDSI interface, and displaying virtual-real fusion picture according to rendering instruction. 7.The Beidou satellite positioning based augmented reality theme park building system according to claim 1, characterized in that, The device posture data comprises three-axis acceleration data and three-axis angular velocity data; the central processing module is further configured to calculate the spatial orientation of the virtual object based on the three-axis acceleration data and the three-axis angular velocity data.

8. A method for constructing an augmented reality theme park based on Beidou satellite positioning, characterized in that, Comprise: The Beidou positioning module receives Beidou satellite signals, and obtains initial positioning data according to the Beidou satellite signals, and transmits the initial positioning data to the central processing module; The inertial measurement unit module detects device posture data in real time, and transmits the device posture data to the central processing module; The communication module exchanges data with the cloud server through a wireless network, obtains cloud data, and transmits the cloud data to the central processing module; the cloud data comprises ground-based augmentation station differential data; The storage module obtains centimeter-level positioning data, and provides virtual scene data to the central processing module according to the centimeter-level positioning data; The central processing module corrects the initial positioning data based on the ground-based augmentation station differential data to obtain the centimeter-level positioning data, and performs a fusion operation on the device posture data, the centimeter-level positioning data, and the virtual scene data corresponding to the centimeter-level positioning data to obtain rendering instructions, and transmits the rendering instructions to the AR display module through a GPIO bus; The AR display module displays a virtual-real fusion picture according to the rendering instructions, and obtains a user's touch instruction, and transmits the touch instruction to the central processing module through an I2C bus; the touch instruction is used for the central processing module to dynamically update the rendering instructions.

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