328 results about "Euler angles" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention relates to the technical field of intelligent sensing and data fusion, in particular to a real-time motion guidance and error correction method and system based on multi-source data analysis, and the method comprises the following steps: S1, synchronously collecting the motion data of a user through a hardware-synchronized multi-source sensing network, completing the timestamp alignment and standardization processing of the multi-source data, and obtaining the motion data of the user; outputting standardized motion data with a unified time sequence; and S2, performing multi-sensor data fusion processing on the standardized motion data, and reconstructing three-dimensional human body joint posture data based on a state estimation algorithm. Through a time sequence mode recognition algorithm, in combination with various motion data such as joint Euler angles and angular velocities, accurate recognition is performed on different motion stages, through recognized stage labels, a user personalized model is called to dynamically generate an evaluation threshold value of the current stage, then motion deviation diagnosis is performed, and the accuracy of motion deviation diagnosis is improved. The problem caused by the fact that the motion stages cannot be distinguished due to the fact that a fixed threshold value is used is effectively solved, and adaptability and accuracy of posture deviation diagnosis are remarkably improved.

The invention discloses a GNSS (Global Navigation Satellite System) signal quality adaptive integrated navigation method, and relates to the technical field of vehicle navigation. IMU and GNSS positioning information and positioning states are read, integrated navigation is realized through an ESKF loose combination algorithm, a measurement covariance matrix is changed in real time according to the GNSS positioning state and a DOP factor, and finally, an error state value is estimated and fed back to an integrated navigation system. Position and speed information errors and attitude Euler angle errors under a navigation coordinate system are fed back to INS mechanical arrangement, angular acceleration zero offset errors of the IMU are fed back to the IMU, and updating of the state quantity is completed. A measurement covariance matrix is changed in real time according to a GNSS positioning state and a DOP factor by aiming at IMU and GNSS data through a loosely combined ESKF fusion algorithm, an error state is estimated and fed back to an integrated navigation system, and the positioning precision can be effectively improved.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

The invention relates to the technical field of unmanned aerial vehicle flight control, and provides an unmanned aerial vehicle trajectory tracking control method and system based on self-adaptive dynamic programming, and the method comprises the steps: obtaining a position subsystem control input through a control law of a position subsystem based on a position loop expected value, an external interference estimated value and a position tracking error, and carrying out the control of the position subsystem; a position coordinate vector and a first-order derivative thereof are calculated by adopting a position subsystem so as to update a position tracking error, and an external interference estimated value is updated through an interference observer; based on an Euler angle vector reference signal, feedforward control input is obtained through calculation, attitude subsystem control input is obtained through calculation in combination with optimal feedback control input, an Euler angle vector and a first derivative of the Euler angle vector are calculated through an attitude subsystem, an optimal feedback controller is designed for a nominal error system by adopting a self-adaptive dynamic programming method, and the optimal feedback controller is used for controlling the nominal error system. And updating the optimal feedback control input. And the unmanned aerial vehicle system is ensured to have the optimal tracking performance while having relatively high robustness in finite time.

The invention discloses a multi-view mark-point-free facial expression capturing method and system, which are applied to the technical field of facial expression capturing, and the method comprises the steps: collecting a human face multi-view image based on a multi-dimensional camera matrix; performing two-dimensional key point detection and neutral expression face three-dimensional reconstruction on the face multi-view image to obtain a standard face topology model; acquiring a non-neutral expression depth map from the face multi-view image; optimizing a model coefficient based on the standard face topology model, the non-neutral expression depth map and the face multi-view image; and inputting the optimized model coefficient into a standard face topology model to obtain a real face facial expression model. According to the invention, the accuracy and integrity of the acquired image can be improved through the acquired multi-view-angle image of the human face; the expression base coefficient, the translation coefficient and the Euler angle rotation coefficient are optimized, so that a more accurate and more real facial expression model is obtained based on a standard facial topology model, and the accuracy of expressions and poses is ensured.

The invention provides a 6D attitude rapid estimation method and device for a target object, and relates to the field of electrical digital data processing in the technical field of machine vision and perception, and the method comprises the steps: obtaining an RGB image and a depth image of the target object, inputting the RGB image into a segmentation model, and obtaining a binary mask of the target object; acquiring a camera internal reference matrix, and constructing a curved surface point cloud matrix of the target object according to the depth image, the binary mask and the camera internal reference matrix; constructing a cubic package of the target object, and constructing a fitting penalty function according to the curved surface point cloud matrix and the cubic package; according to the curved surface point cloud matrix, the cubic package and the fitting penalty function, gradient vectors of the center point and the Euler angle of the target object are obtained through calculation; and performing iterative solution on the gradient vectors of the central point and the Euler angle through a gradient descent algorithm to obtain optimal solutions of the central point and the Euler angle, and taking the optimal solutions of the central point and the Euler angle as the 6D attitude of the target object.

The present invention discloses a method for SAR satellite high-resolution imaging mission planning. Considering the satellite resource constraints and the imaging mission requirements of high resolution comprehensively, mission planning is carried out in two aspects of attitude maneuver and timing, planning multiple imaging missions at one time, improving the utilization efficiency of satellite resources and the observation speed of the satellite, and being able to meet the imaging mission requirements and achieve the required resolution and swath width indicators; the present invention avoids conflicts between attitude switching, power-on / off times, and storage timing among imaging missions, and completes imaging missions in order from high to low according to the priority. The present invention uses the least squares method to fit the attitude Euler angle curve, and takes the derivative to obtain the attitude Euler angular velocity and the attitude Euler angular acceleration, improving the calculation accuracy. When calculating the timing parameters, the present invention uses simulation to verify whether the segmented variable pulse repetition frequency design result can ensure the effective reception of echoes, ensuring the accuracy of the timing parameters.

The invention discloses a seven-degree-of-freedom mechanical arm trajectory planning method based on null space optimization, relates to the technical field of mechanical arm intelligent control, and aims to solve the problems that an existing mechanical arm trajectory planning method easily causes sudden posture change and affects trajectory continuity and motion stability when Euler angle velocity is adopted for posture planning. According to the method, the Jacobian matrix is adopted for operation without depending on a complex inverse kinematics calculation process, and the method can be suitable for redundant mechanical arms of any configuration; according to the method, the tail end trajectory is planned in a pose matrix mode, joint layer optimization is achieved through a null space formed by redundant freedom degrees, pose sudden change easily caused when the Euler angle velocity is adopted for pose planning is avoided, and the continuity and motion stability of trajectory planning of the mechanical arm are improved.

The invention discloses an Internet of Vehicles channel modeling method considering antenna attitude vibration, and the method comprises the steps: building an accurate vibration model of an antenna three-dimensional attitude through precisely modeling vehicle body tiny vibration caused by bumping, steering and other factors in vehicle driving into micro-motion of an antenna attitude at three time-varying Euler angles of pitching, rolling and yawing; the time-varying attitude is introduced into a coordinate system rotation matrix, the random vibration characteristic parameterization of the antenna in a three-dimensional space is realized, and then the random vibration characteristic parameterization is coupled to the evolution of key parameters of a channel model, so that the channel rapid fluctuation and beam mismatch effect caused by the antenna attitude jitter can be more accurately reproduced; the method can effectively solve the problems that in the prior art, due to the fact that microcosmic vibration of an antenna is ignored, the fidelity of a model is low, and characterization of a key beam mismatch effect in millimeter wave communication is seriously insufficient, and can provide theoretical basis and data support for performance evaluation and beam management algorithm design of a high-dynamic and high-reliability car networking system.

The invention provides a welding method for a floating ship plate of a large oil storage tank, which belongs to the technical field of electric digital data processing and comprises the following steps: firstly, acquiring three-dimensional point cloud data through a sensor group on a crawler-type welding robot, and acquiring a feature image of a to-be-welded area by using a camera; a welding coordinate system is established based on the data, a groove contour is calculated, and an initial welding track is generated. And in combination with welding process parameters and environmental conditions, an Euler angle sequential sequence calculation equation set is established, and the posture of a welding head is adjusted in real time. Groove forming data in the welding process are monitored in real time through a sensor, when the fusion depth or the excess weld metal of a connector does not meet the requirement, a system can automatically recalculate the Euler angle sequence and adjust welding parameters till the technological standard is met, and therefore high-quality automatic welding is achieved, and the welding efficiency is improved. The technical problem that in the prior art, welding parameters and the motion trail of the welding robot are difficult to automatically adjust according to the welding state sensed in real time in the welding process is solved.

The invention relates to the technical field of array antennas, in particular to a sparse linear array beam forming method and system with unit rotation and mutual coupling considered. Array elements are obtained, Euler angle derivation is carried out on rotation of the array elements around the z axis, and a radiation electric field after rotation is obtained; setting a beam forming target according to the electric field of the radiation field; according to a beam forming target, optimizing the position, the rotation angle and the excitation phase of an array element by adopting a random optimization algorithm, and generating an initial beam scheme; an active directional diagram is extracted from the initial beam scheme according to full-wave simulation, the active directional diagram is combined with a CAL-SAPSO algorithm to optimize the array element position, the rotation angle and the excitation phase, and a final array element directional diagram is generated; according to the invention, by introducing array element rotation and considering a mutual coupling effect, efficient beamforming of the sparse wiring array is realized, the radiation characteristic of the antenna array can be adjusted more finely, the peak side lobe level and the cross polarization level are effectively reduced, and the overall performance of the system is improved.

The invention provides a four-rotor unmanned aerial vehicle optimal attitude synchronous control method based on reinforcement learning. The method comprises the following steps: firstly, establishing a kinetic model based on an Euler angle, and converting a constraint control problem into an unconstrained problem by constructing a global consistent barrier function; and then, designing a distributed observer by utilizing the state of an adjacent machine so as to estimate the state of a leading machine, and converting a complex attitude synchronization task into a trajectory tracking task. Thirdly, combining the estimated pilot state with the four-rotor state, constructing an augmentation equation, designing a performance index function, and obtaining optimal control input through iteration of a Hamilton equation and a data-driven reinforcement learning algorithm; and finally, adopting a neural network to approximate an optimal performance index function and control input, updating a neural network weight by using a least square method, and performing tracking control on the unmanned aerial vehicle through an updating strategy. According to the method, safe flight of the quad-rotor unmanned aerial vehicle under different state constraints is ensured, and tracking failure caused by difficult collection of dynamic information is avoided.

The invention belongs to the field of material plastic deformation, and particularly discloses a crystal grain progressive rotation visualization method and system based on a crystal plasticity finite element, and the method comprises the steps: constructing a crystal plasticity constitutive model, and employing an index method to describe the relation between a crystal grain Euler angle and a Miller index; a crystal plasticity finite element model is constructed, the crystal plasticity finite element model comprises a plurality of crystal grains with random orientation, and deformation of each crystal grain is controlled by a crystal plasticity constitutive model; performing contact constraint on the crystal plasticity finite element model through a mold in Abaqus; performing multidirectional compression simulation on the crystal plasticity finite element model to reflect a real multidirectional forging process; finite element grid node coordinates and Euler angle data of a concerned observation surface in the crystal plasticity finite element model are obtained, an EBSD interaction file is constructed, then an IPF graph is drawn, and grain progressive rotation visualization is achieved. According to the invention, dynamic simulation and visual analysis of crystal orientation in the multidirectional forging process are realized, and a grain progressive rotation mechanism is revealed from a microscopic scale.

The invention relates to the technical field of position control, in particular to a servo closed-loop full-automatic plugging visual control method and system, and the method comprises the following steps: obtaining a static direction and an attitude angle of a plugging interface, constructing a reference configuration, calculating a current attitude deviation and an inclination angle to generate an offset configuration, extracting an offset angle comparison tolerance, and adjusting a servo actuator. According to the method, the attitude judgment precision is improved by collecting the attitude angles of the contact pin and the interface to construct the angle vector, calibrating and generating the reference configuration, the direction deviation index is formed by combining the attitude deviation and the inclination angle, and the direction recognition accuracy is enhanced; an adjusting instruction is generated through the difference value of the deviation angle and the Euler angle, dynamic response and self-adaptive adjustment are achieved, current, position and speed changes in disturbance signals are synchronously collected, disturbance vectors are constructed, the trend is analyzed, the plugging state is judged, stability monitoring and closed-loop adjustment are achieved, and plugging consistency and control precision are improved.

The invention belongs to the technical field of pedestrian navigation and positioning, and relates to a pedestrian inertial navigation method based on action recognition. The method comprises the following steps: collecting IMU data and muscle electricity data by using a wearable device; in a static state, calculating an Euler angle and solving a coordinate rotation matrix by means of IMU data, converting an acceleration in a carrier coordinate system into a navigation coordinate system, and obtaining speed information after integration; after the muscle electricity data is subjected to preprocessing and feature extraction, an SVM model based on statistics and an action correction algorithm is used for recognizing the motion state of the human body in a mixed motion mode, and an action recognition result is obtained; the action recognition result is used for self-adaptively adjusting threshold detection of the zero speed interval, finally, the zero speed is corrected in the zero speed interval through a speed correction method based on the EKF, integration is conducted on the corrected speed, and therefore position information is obtained. According to the method, high positioning precision, small positioning error and good robustness can be realized in a mixed motion mode, and an accurate track can be drawn.

The invention discloses a container lockpin positioning method and system based on combination of a monocular camera and a mechanical arm, and the method comprises the steps: carrying out the target detection of the side holes of a to-be-detected corner fitting in a left visual angle image and a right visual angle image based on a deep learning model, obtaining a left image detection frame pixel set and a right image detection frame pixel set with minimum encirclement; traversing each point in the pixel set of the left image detection frame, calculating the epipolar constraint of each point in the pixel set of the left image detection frame in the pixel set of the right image detection frame, and generating a homonymous pixel point pair set of the corner fitting to be detected in the left and right view angle images according to the corresponding constraint of the homonymous detection frame pixel points of the left and right view angle images; and calculating a depth value of each point in the left image detection frame pixel set according to the homonymous pixel point pair set, reconstructing a 3D detection frame point cloud of the corner fitting to be detected based on the depth value of each point in the left image detection frame pixel set, and calculating to obtain a coordinate and an Euler angle of the center of the 3D detection frame point cloud.

The present disclosure provides a method, device, equipment and medium for calculating right ascension and declination based on Euler angles, which relates to the field of aerospace technology. The method includes: obtaining the initial observation pointing parameters of a satellite camera, the first rotation Euler angle of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angle of the coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing; calculating the final observation pointing parameters of the satellite camera according to the initial observation pointing parameters, the first rotation Euler angle and the second rotation Euler angle; calculating the right ascension and declination of the satellite camera according to the final observation pointing parameters. The method can quickly and accurately solve the celestial right ascension and declination from the initial pointing of the camera, and can fully consider various rotation sequences of aerospace engineering, with a wide range of applications and strong applicability.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention relates to a robot motion trail smoothing method and system. The method comprises the specific steps that S1, discrete path points of robot motion are obtained, and a B-spline position path curve meeting the third-order derivative continuity is constructed; s2, representing the posture of an end effector of the robot in the form of an Euler angle, carrying out smooth interpolation, and constraining a posture error by utilizing a Jacobian matrix; s3, iteratively optimizing the curvature of the position path curve under the condition that the tolerance and continuity requirements are met; s4, determining a position and attitude synchronization condition, and further calculating an attitude path curve transition length and a control point parameter; s5, optimizing a speed curve and realizing non-sudden-change transition; and S6, the discrete command is converted into a joint angle instruction through inverse kinematics, and the robot is controlled to move along the designed track. The method is suitable for robot motion track smoothing of a complex manufacturing task, can solve the problems that the generated path curve does not pass through an initial path point and the speed suddenly changes, and remarkably improves the running precision and efficiency of the robot.

The invention discloses a microstructure digital processing method and system for a metal material EBSD result, and the method comprises the steps: defining the physical orientation of a material, namely describing the orientation of a crystal through three continuous rotations; performing image processing on the acquired microstructure image to obtain a distribution rule of crystal grains; the microstructure of the material is re-identified and combined, and small crystal grains which cannot be identified in EBSD data processing software are eliminated; assigning the microstructure image obtained by re-identification to obtain a material microstructure segmentation result; and linking the crystal grains with Euler angle orientation exported from EBSD data processing software to obtain orientation distribution data of the microstructure of the material. On the basis of EBSD data processing software, grain distribution and Euler angle orientation information in the EBSD data processing software are extracted, the Euler angle orientation information can be used for subsequent cellular automaton model and theoretical analysis, the resolution can be adjusted according to needs, and the recognition precision is improved.

The invention discloses a communication network optimization method for air RIS attitude change, which belongs to the field of wireless communication, and comprises an air RIS assisted communication network scene and an air RIS control method based on an Euler angle, so as to jointly optimize a UAV track and an air RIS attitude, and adopt a deep reinforcement learning algorithm to maximize a system communication rate sum. The coupling relation between the air RIS attitude and the UAV trajectory and the relation between RIS channel gain and orientation are considered, so that an application scene better conforms to the display condition, and a better effect is achieved when the method is applied to an actual scene; the proposed SAC algorithm not only pays attention to maximization of accumulated rewards, but also takes strategy entropy as one of key optimization targets; the weighted sum of the accumulated reward and the strategy entropy is maximized, and the strategy randomness is introduced to encourage the intelligent agent to have higher exploration ability during action selection.

The invention relates to the technical field of flight control, in particular to a thrust vector type short-range vertical take-off and landing aircraft hovering control method and device, and the method comprises the steps: building a thrust vector type short-range vertical take-off and landing aircraft hovering dynamic model based on the nonlinear relation of the aircraft speed, the Euler angle, the angular speed, the thrust and the torque; designing a reconfiguration controller of a power system of the thrust vector type short-range vertical take-off and landing aircraft, and designing a hovering controller of the thrust vector type short-range vertical take-off and landing aircraft; designing an extended state observer used for estimating a nonlinear term and a state derivative in the hovering dynamics model; and feeding back the estimated nonlinear term and the estimated state derivative of the extended state observer to a hovering controller so as to carry out hovering control on the thrust vector type short-distance vertical take-off and landing aircraft. Therefore, the problem that efficient decoupling and robust control of multiple execution mechanisms in an aircraft system are difficult to realize by a dynamic inverse-based hovering control method in related technologies is solved.

The invention discloses an IMU (Inertial Measurement Unit) drift error calibration method for long-term attitude measurement of an industrial robot. The IMU drift error calibration method comprises the following steps: deducing a pose matrix between a robot base coordinate system and a navigation coordinate system; deriving a pose matrix between a robot tail end coordinate system and a sensor body coordinate system; kinematics modeling is conducted on the industrial robot, and motion parameters are obtained; deriving a homogeneous transformation matrix between two adjacent joints according to the kinematic parameters; acquiring actual joint corner information when the robot runs and actual information measured by a tail end IMU when the robot runs; wherein the actual information of the IMU comprises actual angular velocity information and actual attitude information; the collected actual joint rotation angle information is substituted into the homogeneous transformation matrix, theoretical attitude information of the tail end of the robot is obtained, and the theoretical attitude information is converted into a navigation coordinate system; converting the theoretical attitude information converted into the navigation coordinate system into an Euler angle; designing a Kalman filter; according to a Kalman filter, data fusion of theoretical attitude information and actual attitude information is completed, and calibration is achieved. According to the method, joint angle information, the industrial robot end theoretical attitude obtained through forward kinematics calculation of the kinematics model and actual attitude data obtained through IMU measurement are fused, and accumulated error calibration formed in long-term attitude measurement of the IMU is achieved.

The invention relates to a G3 continuous and stable-motion robot path fairing method. The method comprises the steps that firstly, robot tail end position path smoothing is conducted under a workpiece coordinate system, and continuous smooth switching of the position G3 at the path connection position is achieved by constructing a Bezier curve corner transition model for six times; secondly, robot tail end posture path fairing is carried out in an Euler angle space around a workpiece coordinate system, and posture G3 continuous smooth switching at the path connection position is achieved by constructing a Bezier curve corner transition model for six times; and finally, parameter synchronization processing is carried out on the tail end position and the posture path of the robot after transferring and fairing, position and posture transition parameters are adjusted in a self-adaptive mode by considering posture synchronization conditions and geometrical characteristics of the posture path, and it is ensured that the first-order derivative, the second-order derivative and the third-order derivative of the tail end posture relative to the arc length of the position path are continuous. According to the method, continuous smooth switching of the tail-section pose G3 of the robot can be achieved, no iterative computation is needed, the fairing error is controllable, and meanwhile angular motion of a tool cutter shaft at the tail end of the robot is more stable.

The invention discloses an automatic attitude control method for a tunnel boring machine equipped with a six-degree-of-freedom propulsion system. The method comprises the following steps: calculating current attitude information of the front end surface of a shield body of the tunnel boring machine in a global rectangular coordinate system; position coordinates and direction vectors of the front end face of the shield body at the next tunneling position, namely the target position, on the tunnel design axis are determined; calculating pose information of the front end face of the shield body at the next tunneling position under the global rectangular coordinate system; calculating the position deviation and Euler angle deviation of the target pose and the current pose in the first rectangular coordinate system; calculating the target length of each propulsion oil cylinder in the six-degree-of-freedom propulsion system; and the intelligent control system of the tunnel boring machine automatically executes the target stroke increment of each propelling oil cylinder in a closed-loop manner. The invention relates to the field of shield tunnel construction, and can solve the problems of high manual deviation correction operation difficulty and insufficient control precision of a propelling system in the prior art.

The invention relates to the technical field of motion capture, in particular to a rigid body linkage design method and system based on a human body model.The method comprises the steps that three-dimensional key points on a user body are extracted from camera calibration data based on a two-dimensional key point detection algorithm and a triangularization technology; a Python interface of Blender is used, rigid bodies are drawn according to the three-dimensional key points, and each rigid body is defined by two mark points; generating a corresponding coordinate axis for each three-dimensional mark point, and linking the direction of the coordinate axis and the Euler angle of the mark point through a parent class inheritance mechanism to obtain each enhanced three-dimensional mark point; and writing the enhanced three-dimensional mark points into a human body model file, and carrying out real-time linkage of the rigid body and the human body model through binding with skeleton joints. According to the invention, the problems of tedious operation and poor user experience of the traditional mark point motion capture method are effectively solved, the defects of the existing mark point-free technology in rigid body rendering and linkage are overcome, and high-quality mark point-free human body motion capture and visualization are realized.

An acoustic resonator includes a substrate, a lithium tantalate layer disposed over the substrate, and a transducer on the lithium tantalate layer. The lithium tantalate layer has a crystalline orientation defined by a first Euler angle (λ), a second Euler angle (μ), and a third Euler angle (θ), and the first Euler angle (λ), the second Euler angle (μ), and the third Euler angle (θ) are chosen such that an acoustic plate mode (APM) is a dominant mode excited in the acoustic resonator.

The invention discloses a display method for an air gesture rotation operation in a virtual reality environment, relates to the technical field of gesture interaction, and solves the technical problem that the rotation of a virtual object cannot be accurately controlled according to gesture motion data input by a user in real time. According to the gesture position data, calculating a normal vector and an included angle of a plane formed by the two-hand connecting line vector at the fixed time, and converting the normal vector and the included angle into an Euler angle coordinate of a gesture rotation direction and a gesture rotation angular velocity; inputting the Euler angle coordinate of the gesture rotation direction and the gesture rotation angular velocity into a display control mapping model to obtain the rotation direction and the rotation velocity of the virtual object; and displaying the rotation of the virtual object on the virtual reality equipment according to the rotation direction and the rotation speed of the virtual object. According to the method, rotation control of reachable out-of-domain objects can be completed by adopting a bare hand in virtual reality, interaction is natural and smooth, and the method has explainability in behavior; a machine learning method is introduced to intelligently recognize and judge the gesture rotation direction of the user, so that the interaction accuracy is improved; the dynamic non-isomorphic mapping mechanism is applied to the air gesture rotation control operation, and the accuracy of gesture control is remarkably improved.

The invention relates to the technical field of object attitude measurement methods, and discloses an object attitude measurement method based on double inertial measurement units, and the measurement method comprises the following steps: S1, fixing spatial relative positions of the two inertial measurement units and a carrier; s2, calculating a carrier Euler angle by using acceleration data of the inertial measurement unit; and S3, carrying out noise filtering and data fusion by using a dual-stage complementary filter. According to the method, two inertial sensors connected in a fixed mode are used for outputting data for complementation, and the problem that the x-axis angle of a single inertial sensor is unstable can be solved; secondly, the deviation of the gyroscope is corrected online by using a nonlinear complementary filter, and the attitude angle is calculated by fusing the acceleration data and the angular velocity data by using the linear complementary filter, so that the phenomenon that errors occur in the existing attitude angle estimation can be effectively solved, and the problems of complex gain parameter adjustment, tedious operation and low error rate of a conventional filtering algorithm are solved. And the efficiency is low.