A five-dimensional space-time coupling positioning method

Abstract

The application discloses a five-dimensional space-time coupling positioning method, and belongs to the technical field of precise positioning and dynamic attitude control.The application constructs a five-dimensional cooperative positioning system with three-dimensional space, unified time sequence and global coupling constraint as the core, takes a central host as the center to face the reference, takes the reference as the global space-time origin, and forms a coupling constraint relationship with the reference by each distributed modular node, and cooperatively works under the unified synchronous time sequence.The accumulated error is inhibited by mutual checking and linkage between nodes, and stable positioning without drift is realized.The application is not bound to specific application scenarios and technical implementation modes, can be adapted to various scenes such as human motion capture and multi-unit cooperative positioning, and has the characteristics of wide configuration mode, high stability and strong anti-interference capability.

Description

Technical Field

[0001] This invention relates to the field of precision positioning and dynamic attitude control technology, and in particular to a non-cumulative drift positioning method based on global spatiotemporal coupling constraints. Background Technology

[0002] In fields such as human motion capture, multi-device collaborative positioning, and dynamic attitude control, existing positioning technologies have long suffered from the following technical shortcomings: 1. It mostly adopts a single-point independent positioning mode, relies on high-frequency sampling and complex post-processing algorithms to correct errors, and the cumulative drift problem is difficult to solve at its root, which easily affects the long-term operating accuracy; 2. Multi-node systems lack a globally unified spatiotemporal reference, there is no synchronized time reference between nodes, and there are no effective constraints between units, which can easily lead to problems such as attitude inaccuracy, motion clipping, and system topology disorder. 3. Existing solutions mostly focus on optimizing single-point accuracy, without building error-resistant mechanisms at the system level, resulting in insufficient overall stability and anti-interference capabilities. The industry urgently needs a principle-level, universal positioning method to solve the cumulative drift problem from the ground up, while also possessing cross-scenario reusability and not being limited by specific application carriers or technical routes. Summary of the Invention

[0003] This invention aims to overcome the shortcomings of existing technologies and provide a five-dimensional spatiotemporal coupled positioning method. By constructing a global spatiotemporal unified benchmark and coupling constraint relationship between nodes, it achieves stable positioning without cumulative drift. At the same time, it is not bound to specific application scenarios and technical implementation methods, and has wide cross-domain applicability.

[0004] The five dimensions referred to in this invention are specifically the three-dimensional spatial dimension, the unified temporal dimension, the global coupling constraint dimension, and the five dimensions cooperate and balance each other. Technical solution

[0005] To achieve the above objectives, the present invention provides the following technical solution: A five-dimensional spatiotemporal coupled localization method includes the following steps: 1. Establish a unified central orientation benchmark as the global spatial and temporal origin, providing a unique spatiotemporal reference for all positioning nodes; 2. Deploy multiple distributed positioning nodes, with each node taking the central orientation reference as a reference to form a global coupling constraint relationship. The spatial position and attitude changes of the nodes are interconnected and interlocked for verification. 3. Under a unified synchronous timing, each node maintains strong coupling and linkage with the central reference and other nodes. All nodes operate synchronously according to the same time rhythm, and at the same time, they have a three-dimensional spatial activity range based on the central reference within the preset boundary, thus achieving a balance between global stability constraints and local controlled activities. 4. By combining spatial reference constraints, temporal unified constraints, and node coupling constraints, the generation of accumulated errors is suppressed from the root, achieving stable positioning without accumulated drift.

[0006] The distributed positioning nodes are modular nodes that establish communication and power supply connections with the central host. Data interaction and energy supply can be achieved through various methods such as wired, wireless, and inductive power supply. The spatial movement and attitude changes of each node are always constrained by global coupling rules, achieving controlled autonomous adjustment within a limited activity range and avoiding system disorder caused by disordered movement. This method is applicable to various application scenarios such as human motion capture, multi-unit collaborative positioning, and dynamic attitude closed-loop. Beneficial effects

[0007] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Breakthrough at the underlying principle level: Relying on a multi-dimensional collaborative architecture with three-dimensional space, unified temporal sequence, and coupled constraints, the cumulative drift problem is solved at the system level rather than at a single point level, forming a set of universal constraint mechanisms that can be reused across domains; 2. Wide range of configuration options: The claims are not bound to specific application scenarios, and there are no restrictions on the implementation of transmission and power supply. They can be adapted to various multi-unit dynamic positioning scenarios.

[0008] 3. Strong stability and anti-interference capability: Relying on global unified timing synchronization and node mutual coupling verification, all units work together under the same time reference, avoiding the accumulation of deviations caused by timing misalignment, reducing drift phenomenon from the source, and maintaining accurate positioning for a long time without relying on complex post-processing. Attached Figure Description

[0009] Figure 1 This is a schematic diagram illustrating the core principle of the present invention; Figure 2 This is a schematic diagram of an embodiment of the modular node arrangement of the present invention. Detailed Implementation

[0010] right Figure 1 Explanation 1: Global synchronous coupling state; 2: Central orientation reference (global spatial and temporal origin); 3: Distributed positioning node (top left); 4: Distributed positioning node (top right); 5: Distributed positioning node (bottom left); 6: Distributed positioning node (bottom right); 7: Local activity state under coupling; 8-Schematic diagram of the three-dimensional spatial activity range of a node under coupling constraints.

[0011] Example 1: Human motion capture scenario Referring to the accompanying drawings, the connection relationships and working principles of the components in this embodiment are as follows: 1. Using the central host 1 as the center orientation reference, a global spatiotemporal origin is constructed to provide a unified spatial and temporal reference for all nodes.

[0012] 2. The pluggable modular node 2 establishes a communication and power supply connection with the central host 1 through the replaceable multi-function line 4. Each node takes the central host 1 as a reference to form a global coupling constraint relationship.

[0013] 3. The replaceable pluggable base 3 fixes the pluggable modular node 2 to key parts of the human body such as limbs and joints. The node can be finely adjusted along the fine-adjustment positioning slide rail 5 to adapt to the wearing needs of different body types.

[0014] 4. The central host 1 controls all pluggable modular nodes 2 to synchronously collect attitude data under the same time reference through unified synchronization timing. The spatial motion and attitude changes of each node are restricted by global coupling rules, and at the same time, they have three-dimensional spatial freedom within the range of human joint movement.

[0015] 5. The central host 1 performs verification and linkage processing on the data of each node through the synergistic effect of spatial reference constraints, temporal unified constraints and node coupling constraints, so as to achieve drift-free capture of action sequences and effectively avoid problems such as posture distortion and action clipping.

[0016] In this embodiment, the replaceable multi-function line 4 can be replaced with a wireless communication module to realize the wireless connection between the node and the central host 1, both of which fall within the protection scope of this invention.

Claims

1. Claim 1 A five-dimensional spatiotemporal coupled positioning method, characterized in that, include: Establish a unified central orientation benchmark as the global spatial and temporal origin; Multiple distributed positioning nodes are deployed, and each node forms a global coupling constraint relationship with the central orientation reference as a reference. In continuous time sequence, each node maintains strong coupling and linkage with the central reference and other nodes, while having a three-dimensional spatial activity range based on the central reference within the preset boundary. Stable positioning without cumulative drift is achieved through the synergistic effect of spatial reference constraints, temporal continuity constraints, and node coupling constraints.

2. Claim 2 The five-dimensional spatiotemporal coupled positioning method according to claim 1 is characterized in that, The distributed positioning node is a modular node that establishes communication and power supply connections with the central host.

3. Claim 3 The five-dimensional spatiotemporal coupling positioning method according to claim 1 is characterized in that, The spatial motion and attitude changes of each node are always restricted by the global coupling rules, and can achieve controlled autonomous adjustment within a limited activity range.

4. Claim 4 The five-dimensional spatiotemporal coupled positioning method according to claim 1 is characterized in that, This method is applicable to various application scenarios such as human motion capture, multi-unit collaborative localization, and dynamic posture closure.

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