CN106443584A - Position determination method and apparatus - Google Patents
Position determination method and apparatus Download PDFInfo
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- CN106443584A CN106443584A CN201610792116.2A CN201610792116A CN106443584A CN 106443584 A CN106443584 A CN 106443584A CN 201610792116 A CN201610792116 A CN 201610792116A CN 106443584 A CN106443584 A CN 106443584A
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- 238000012545 processing Methods 0.000 claims description 14
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- 238000004590 computer program Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses a position determination method and apparatus. The method includes the following steps that: a first time and a second time are acquired, wherein the first time is a time when a light receiving unit receives polarized light in a first scanning direction which is emitted by a light emitting unit, and the second time is a time when the light receiving unit receives polarized light in a second scanning direction which is emitted by the light emitting unit; the deviation angle of the light receiving unit relative to the light emitting unit is determined according to the first time, the second time and a synchronization signal time; and the position of the light receiving unit is determined based on the deviation angle of the light receiving unit relative to the light emitting unit. Since the light emitting unit can emit the polarized light in different scanning directions, the polarized light in the first scanning direction and the polarized light in the second scanning direction which are received by the light receiving unit in the same time period will not be mixed, and therefore, the speed of the determination of the position of a target object can be effectively improved, and system delay is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of optical tracking, in particular to a position determining method and device.
Background
The main purpose of the position determination and motion tracking technology is to track and feed back the position and motion change of a target in real time to obtain three-dimensional space positioning of the target and motion parameter acquisition thereof. Currently, inertial tracking technology and optical tracking technology are commonly used in the field of human-computer interaction.
The inertial tracking technology is characterized in that an inertial measurement unit is arranged on a target, data such as acceleration and angular velocity are obtained through measurement, and a mathematical tool is used for calculating and obtaining the motion condition of the target. Its advantages are simple implementation and high anti-interference performance. The method has the disadvantages that the motion characteristics of the tracked target cannot be comprehensively acquired, and the motion characteristics of the tracked target can be only reflected in a limited and local mode.
Optical tracking techniques accomplish the task of motion tracking by monitoring and tracking a specific spot on the target. In theory, for any point in space, the spatial position of the point at that moment can be determined, as long as it can be seen by both cameras at the same time. When the camera is continuously taking pictures at a sufficiently high rate, the motion trajectory of the point can be derived from the sequence of images. A virtual object is formed through digital processing, and then the spatial position of the object is determined through three-dimensional space calibration. The optical tracking technology has the characteristics that the motion condition of an object can be comprehensively reflected, and the precision is high; the disadvantages are that it is difficult to implement, the tracking range is small, and the delay is large.
Disclosure of Invention
The embodiment of the invention provides a position determining method and device, which are used for improving the speed of determining the position of a target object and reducing the system delay.
The method for determining the position provided by the embodiment of the invention comprises the following steps:
acquiring a first time and a second time, wherein the first time is a time when the light receiving unit receives first polarized light in a first scanning direction emitted by the light emitting unit, and the second time is a time when the light receiving unit receives second polarized light in a second scanning direction emitted by the light emitting unit;
determining an offset angle of the light receiving unit with respect to the light emitting unit according to the first time, the second time, and a synchronization signal time;
determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the light emitting unit.
Correspondingly, an embodiment of the present invention further provides a device for determining a location, including:
an acquisition unit, configured to acquire a first time and a second time, where the first time is a time when the light receiving unit receives the polarized light in the first scanning direction emitted by the light emitting unit, and the second time is a time when the light receiving unit receives the polarized light in the second scanning direction emitted by the light emitting unit;
a processing unit for determining an offset angle of the light receiving unit with respect to the light emitting unit according to the first time, the second time and a synchronization signal time; and determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the light emitting unit.
The embodiment of the invention shows that by acquiring a first time and a second time, the first time is a time when the light receiving unit receives first polarized light in a first scanning direction emitted by the light emitting unit, the second time is a time when the light receiving unit receives second polarized light in a second scanning direction emitted by the light emitting unit, the offset angle of the light receiving unit relative to the light emitting unit is determined according to the first time, the second time and the synchronous signal time, and the position of the light receiving unit is determined according to the offset angle of the light receiving unit relative to the light emitting unit. Because the light emitting unit can simultaneously send two different polarized lights with different scanning directions, the polarized light in the first scanning direction and the polarized light in the second scanning direction received by the light receiving unit in the same time period can not be mixed, the speed of determining the position of the target object is effectively improved, and the system delay is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for determining a position according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser emitting unit according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a laser according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for determining a position according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a position determining apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For convenience of description, in the embodiment of the present invention, the sensor unit is used to represent the light receiving unit, and the laser emitting unit is used to represent the light emitting unit, but the embodiment of the present invention is only an exemplary function, and the light receiving unit and the light emitting unit are not particularly limited, and other arrangements or devices for light receiving and light emitting may be applied to the embodiment of the present invention.
Fig. 1 illustrates a flow of a method for position determination according to an embodiment of the present invention, where the flow may be performed by a device for position determination, which may be located in a processor or the processor.
As shown in fig. 1, the process specifically includes the following steps:
step 101, a first time and a second time are obtained.
And 102, determining an offset angle of the sensor unit relative to the laser emission unit according to the first time, the second time and the synchronization signal time.
And 103, determining the position of the sensor unit according to the offset angle of the sensor unit relative to the laser emission unit.
In an embodiment of the present invention, the first time is a time when the sensor unit receives the first polarized light emitted by the laser emitting unit in the first scanning direction, and the second time is a time when the sensor unit receives the second polarized light emitted by the laser emitting unit in the second scanning direction. The first polarized light of the first scanning direction and the second polarized light of the second scanning direction may be emitted by a laser in the laser emitting unit.
In order to better describe the first polarized light in the first scanning direction and the second polarized light in the second scanning direction emitted by the laser emitting unit, fig. 2 exemplarily shows a structure of a laser emitting unit. As shown in fig. 2, the laser emitting unit 201 includes an infrared LED emitting array 2011, a first laser 2012 and a second laser 2013, the infrared LED emitting array 2011 is configured to send a synchronization signal, the first laser 2012 can send a first polarized light in a first scanning direction, and the second laser 2013 can send a second polarized light in a second scanning direction. The first laser 2012 and the second laser 2013 can rotate 360 degrees around a rotation axis, wherein the rotation axes of the first laser 2012 and the second laser 2013 are perpendicular to each other. The first laser 2012 and the second laser 2013 may rotate at a predetermined rotation speed, and emit first polarized light in a first scanning direction and second polarized light in a second scanning direction. Preferably, the first scanning direction may be a horizontal scanning direction, and the first laser 2012 emits a first polarized light in the horizontal scanning direction, a first polarized light in the horizontal scanning direction with 360 ° rotation, or a first polarized light that scans back and forth at a set angle, for example, at 90 °. The second scan direction may be a vertical scan direction, and the second laser 2013 may emit light of a second polarization in the vertical scan direction. The first laser 2012 may emit light with a first polarization in the vertical scanning direction, and the second laser 2013 may emit light with a second polarization in the horizontal scanning direction. In the embodiment of the present invention, the "first direction" and the "second direction" are only used to distinguish the light emitted by the two lasers at the same time from each other in different scanning directions, and the "first polarized light" and the "second polarized light" are only used to distinguish the polarized light emitted by the two lasers at the same time from each other. Therefore, the scanning directions and the polarization directions of the light emitted by the two lasers at the same time are different, and the scanning directions and the polarization directions are independent and do not influence each other.
In order to enable the laser to emit polarized light in one scanning direction, the embodiment of the invention arranges a polarizing plate on the laser. As shown in fig. 3, the laser 301 includes a rotation axis 3011, an emission hole 3012, and a polarizing plate 3013 on the laser surface. Further, the surface of the first laser is covered with a first polarization-transparent polarizer, so that the first laser can only transmit the first polarized light in the first scanning direction, and the surface of the second laser is covered with a second polarization-transparent polarizer, so that the second laser can only transmit the second polarized light in the second scanning direction.
Accordingly, in order that the sensor unit can receive the first polarized light of the first scanning direction and the second polarized light of the second scanning direction, the surface of the sensor receiving the first polarized light of the first scanning direction in the sensor unit is covered with a polarizing plate of the first transmission, through which only the first polarized light of the first scanning direction passes. The surface of the sensor receiving the second polarized light of the second scanning direction in the sensor unit is covered with a polarizing plate that is transparent to the second scanning direction and through which only the second polarized light of the second scanning direction passes. So that the sensor unit can receive the first polarized light of the first scanning direction and the second polarized light of the second scanning direction. In an embodiment of the invention the sensor unit is located on the target object.
After the first time and the second time are obtained, an offset angle of the sensor unit with respect to the laser emitting unit for driving the position of the sensor unit may be determined according to the first time, the second time, and the synchronization signal time. Specifically, the offset angle of the sensor unit with respect to the laser emitting unit may include an offset angle of the sensor unit with respect to a first scanning direction of the laser emitting unit and an offset angle of the sensor unit with respect to a second scanning direction of the laser emitting unit.
For clear description of the implementation of the embodiment of the present invention, the offset angle of the sensor unit with respect to the first scanning direction of the laser emitting unit will be described below by taking the first laser as an example.
As shown in fig. 4, at time T1, infrared LED light emitting array 2011 of laser emitting unit 201 emits a synchronization signal, which is received by sensor unit 202 immediately since infrared LED light emitting array 2011 is a surface light source. Simultaneously with the synchronization signal from the infrared LED array 2011, the first laser 2012 emits a first polarized light in a first scanning direction. At time T2, sensor unit 202 receives the first polarized light, based on the time difference between the two, and that of the first laser 2012The rotation speed may be the offset angle of the sensor unit 202 with respect to the first scanning direction of the laser emitting unit 201
In determining the offset angle of the sensor unit with respect to the laser emitting unit based on the first time, the second time, and the synchronization signal time, the following equations (1) and (2) need to be satisfied:
wherein,is the offset angle, ω, of the sensor unit with respect to the first scanning direction of the laser emitting unit1For the rotation speed, t, of a laser emitting a first polarized light in a first scanning direction in a laser emitting unit1The time when the sensor unit receives the first polarized light in the first scanning direction emitted by the laser emission unit is t, and the time is the time of a synchronous signal;
wherein,is the offset angle, ω, of the sensor unit with respect to the second scanning direction of the laser emitting unit2For the rotation speed, t, of the laser emitting the second polarized light in the second scanning direction in the laser emitting unit2The time when the sensor unit receives the second polarized light in the second scanning direction emitted by the laser emission unit is t, which is the time of the synchronization signal.
In order to make the sensor unit know to receive the first polarized light in the first scanning direction and the second polarized light in the second scanning direction emitted by the laser emission unit, before the first time and the second time are obtained, the laser emission unit needs to be periodically controlled to emit a synchronization signal, and the time of the synchronization signal is recorded, wherein the synchronization signal is emitted to inform the sensor unit to start receiving the first polarized light in the first scanning direction and the second polarized light in the second scanning direction. The laser emission unit can simultaneously emit the first polarized light in the first scanning direction and the second polarized light in the second scanning direction while emitting the synchronous signal, and the embodiment of the invention can simultaneously emit the first polarized light in the first scanning direction and the second polarized light in the second scanning direction, so that the sensor unit can receive the first polarized light in the first scanning direction and the second polarized light in the second scanning direction without confusion, and the speed of determining the position of the target object can be improved.
Preferably, in order to accurately determine the position of the sensor unit, the laser emitting units may be multiple, the sensor unit receives the first polarized light in the first scanning direction and the second polarized light in the second scanning direction emitted by the laser emitting units in the same time period, so as to determine the offset angles of the sensor unit with respect to the laser emitting units, and then the sensor unit position may be obtained by the offset angles of the sensor unit with respect to the laser emitting units.
The above embodiment shows that by acquiring a first time and a second time, the first time being a time when the sensor unit receives the first polarized light emitted by the laser emission unit in the first scanning direction, and the second time being a time when the sensor unit receives the second polarized light emitted by the laser emission unit in the second scanning direction, the offset angle of the sensor unit with respect to the laser emission unit is determined according to the first time, the second time and the synchronization signal time, and the position of the sensor unit is determined according to the offset angle of the sensor unit with respect to the laser emission unit. The laser emission unit can simultaneously send two different polarized lights with different scanning directions, so that the first polarized light in the first scanning direction and the second polarized light in the second scanning direction received by the sensor unit in the same time period can not be mixed, the speed of determining the position of the target object is effectively improved, and the system delay is reduced.
Based on the same technical concept, fig. 5 illustrates a structure of an apparatus for position determination, which may be located in a processor or be the processor, according to an embodiment of the present invention.
As shown in fig. 5, the apparatus includes:
an obtaining unit 501, configured to obtain a first time and a second time, where the first time is a time when the sensor unit receives a first polarized light in a first scanning direction emitted by the laser emission unit, and the second time is a time when the sensor unit receives a second polarized light in a second scanning direction emitted by the laser emission unit;
a processing unit 502 for determining an offset angle of the sensor unit with respect to the laser emitting unit according to the first time, the second time and a synchronization signal time; and determining the position of the sensor unit according to the offset angle of the sensor unit relative to the laser emission unit.
Preferably, the processing unit 502 is further configured to:
and before the first time and the second time are acquired, periodically controlling the laser emission unit to emit a synchronous signal, and recording the time of the synchronous signal.
Preferably, the processing unit 502 is specifically configured to:
the number of the laser emitting units is multiple;
and determining the position of the sensor unit according to the offset angle of the sensor unit relative to the plurality of laser emission units.
Preferably, the processing unit 502 is specifically configured to:
the offset angle of the sensor unit with respect to the laser emitting unit includes an offset angle of a first scanning direction and an offset angle of a second scanning direction;
determining an offset angle of the sensor unit with respect to the laser emitting unit according to equations (1) and (2):
wherein,is the offset angle, ω, of the sensor unit with respect to the first scanning direction of the laser emitting unit1For the rotation speed, t, of the laser emitting polarized light in the first scanning direction in the laser emitting unit1The time when the sensor unit receives the polarized light in the first scanning direction emitted by the laser emission unit is t, and the time is the time of a synchronous signal;
wherein,is the offset angle, ω, of the sensor unit with respect to the second scanning direction of the laser emitting unit2For the rotation speed, t, of the laser emitting the second polarized light in the second scanning direction in the laser emitting unit2The time when the sensor unit receives the second polarized light in the second scanning direction emitted by the laser emission unit is t, which is the time of the synchronization signal.
Preferably, the surface of a laser emitting a first polarized light in a first scanning direction in the laser emitting unit is covered with a first polarization-transparent polarizing plate;
the surface of a laser which emits second polarized light in a second scanning direction in the laser emitting unit is covered with a second polarization polarizing film;
the surface of a sensor which receives first polarized light in a first scanning direction in the sensor unit is covered with a first transmission polarizing plate;
the surface of a sensor of the sensor unit that receives the second polarized light of the second scanning direction is covered with a second polarization-transmitting polarizer.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of position determination, comprising:
acquiring a first time and a second time, wherein the first time is a time when the light receiving unit receives first polarized light in a first scanning direction emitted by the light emitting unit, and the second time is a time when the light receiving unit receives second polarized light in a second scanning direction emitted by the light emitting unit;
determining an offset angle of the light receiving unit with respect to the light emitting unit according to the first time, the second time, and a synchronization signal time;
determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the light emitting unit.
2. The method of claim 1, wherein prior to said obtaining the first time and the second time, further comprising:
and periodically controlling the light emitting unit to emit a synchronous signal and recording the time of the synchronous signal.
3. The method of claim 1, wherein determining the position of the light receiving unit based on the offset angle of the light receiving unit relative to the light emitting unit comprises:
the number of the light emitting units is multiple;
determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the plurality of light emitting units.
4. The method of claim 1, wherein the offset angle of the light receiving unit with respect to the light emitting unit includes an offset angle of a first scanning direction and an offset angle of a second scanning direction;
determining an offset angle of the light receiving unit with respect to the light emitting unit according to equations (1) and (2):
wherein,is the offset angle, ω, of the light receiving unit with respect to the first scanning direction of the light emitting unit1For the rotational speed, t, of a light-emitting device in the light-emitting unit emitting light of a first polarization in a first scanning direction1For the first sensor to receive a first scanning direction from the light-emitting unitThe time of the first polarized light, t is the synchronizing signal time;
wherein,is a deviation angle, ω, of the light receiving unit with respect to the second scanning direction of the light emitting unit2For the rotational speed, t, of the light-emitting device in the light-emitting unit emitting light of a second polarization in a second scanning direction2T is a synchronization signal time when the second sensor receives the second polarized light in the second scanning direction emitted by the light emitting unit.
5. A method according to claim 1, wherein a surface of a light emitting device emitting light of a first polarization in a first scanning direction in the light emitting unit is covered with a first polarization-transmitting polarizing plate;
the surface of a light emitting device emitting second polarized light in a second scanning direction in the light emitting unit is covered with a second transparent polarizing plate;
the surface of a light receiving device which receives first polarized light in a first scanning direction in the light receiving unit is covered with a first transmission polarizing plate;
the surface of the light receiving device in the light receiving unit that receives the second polarized light in the second scanning direction is covered with a second polarization-transmitting polarizing plate.
6. An apparatus for position determination, comprising:
an acquisition unit, configured to acquire a first time and a second time, where the first time is a time when a light receiving unit receives first polarized light in a first scanning direction emitted by a light emitting unit, and the second time is a time when the light receiving unit receives second polarized light in a second scanning direction emitted by the light emitting unit;
a processing unit for determining an offset angle of the light receiving unit with respect to the light emitting unit according to the first time, the second time and a synchronization signal time; and determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the light emitting unit.
7. The apparatus as recited in claim 6, said processing unit to further:
and before the first time and the second time are acquired, periodically controlling the light emitting unit to emit a synchronous signal, and recording the time of the synchronous signal.
8. The apparatus as claimed in claim 6, wherein said processing unit is specifically configured to:
the number of the light emitting units is multiple;
determining a position of the light receiving unit according to an offset angle of the light receiving unit with respect to the plurality of light emitting units.
9. The apparatus as claimed in claim 6, wherein said processing unit is specifically configured to:
the offset angle of the light receiving unit with respect to the light emitting unit includes an offset angle of a first scanning direction and an offset angle of a second scanning direction;
determining an offset angle of the light receiving unit with respect to the light emitting unit according to equations (1) and (2):
wherein,is the offset angle, ω, of the light receiving unit with respect to the first scanning direction of the light emitting unit1For the rotational speed, t, of a light-emitting device in the light-emitting unit emitting polarized light in a first scanning direction1The time when the light receiving unit receives the polarized light in the first scanning direction sent by the light emitting unit is t, and the time is the time of a synchronous signal;
wherein,is a deviation angle, ω, of the light receiving unit with respect to the second scanning direction of the light emitting unit2For the rotational speed, t, of the light-emitting device in the light-emitting unit emitting light of a second polarization in a second scanning direction2T is a synchronizing signal time when the light receiving unit receives the second polarized light of the second scanning direction emitted by the light emitting unit.
10. An apparatus according to claim 6, wherein a surface of a light emitting device of the light emitting unit which emits light of a first polarization in a first scanning direction is covered with a first polarization-transmitting polarizing plate;
the surface of a light emitting device emitting second polarized light in a second scanning direction in the light emitting unit is covered with a second transparent polarizing plate;
the surface of a light receiving device which receives first polarized light in a first scanning direction in the light receiving unit is covered with a first transmission polarizing plate;
the surface of the light receiving device in the light receiving unit that receives the second polarized light in the second scanning direction is covered with a second polarization-transmitting polarizing plate.
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| RU2743785C1 (en) * | 2020-07-13 | 2021-02-26 | Федеральное государственное казенное учреждение "12 Центральный научно-исследовательский институт" Министерства обороны Российской Федерации | Method of determining location of a spherical light source by a ground surveillance apparatus |
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