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A Scalable Base Station Array Based Optical Tracking Method

An optical tracking and base station technology, applied in the field of optical tracking of base station arrays, can solve problems such as the reduction of the refresh rate of the tracking system, the reduction of the signal sampling rate, and the reduction of the refresh rate of the original signal data, so as to ensure that the tracking accuracy and speed remain unchanged, Tracking range improvement, effect of increasing tracking range

Active Publication Date: 2020-06-30
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] But currently for Figure 4 and Figure 5 Both of these two structures use one cycle for encoding and one cycle for scanning, which doubles the signal sampling rate, thereby reducing the refresh rate of the original signal data, and finally making the refresh rate of the tracking system reduce

Method used

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  • A Scalable Base Station Array Based Optical Tracking Method
  • A Scalable Base Station Array Based Optical Tracking Method
  • A Scalable Base Station Array Based Optical Tracking Method

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0075] An embodiment of the present invention provides an optical tracking method based on a scalable base station array, the specific process is as follows Figure 6 As shown, in the embodiment of the present invention, the tracking method is used to track the target to be tracked; the method includes the following steps:

[0076] S1. Set up a receiver on the target to be tracked.

[0077] S2. Using an expandable base station array to scan the target to be tracked.

[0078] The expandable base station array consists of m rows and n columns of m×n base stations, wherein the scanning ranges of adjacent base stations overlap.

[0079] In the scalable base station array, each row of base stations is composed of class A base stations and class B base stations at intervals.

[0080] The duty cycle of the class A base station is set to T A , the duty cycle of class B base station is set to T B , the working time order of the scalable base station array is T A T B T A T B ......

Embodiment 2

[0088] On the basis of Embodiment 1, the embodiment of the present invention adopts a scalable base station array structure such as Figure 8 As shown, the same row of base stations and the same row of base stations in the scalable base station array are all arranged in a straight line;

[0089] Then, each column of base stations is also formed by setting A-type base stations and B-type base stations at intervals.

[0090] In the embodiment of the present invention, S3 is specifically:

[0091] The smallest unit of the base station array is a unit array composed of 2 rows and 2 columns, a total of 4 base stations, where the unit array structure is as follows Figure 9As shown; the scanning area of ​​the cell array is divided into 4 categories, namely the first area, the second area, the third area and the fourth area, Figure 9 1, 2, 3, and 4 are used to mark the first area, the second area, the third area, and the fourth area, respectively.

[0092] The first area is an ar...

Embodiment 3

[0099] The scalable base station array structure adopted in the embodiment of the present invention is as follows Figure 10 As shown, when the base stations in the same row and the base station in the same row are arranged in a straight line, the positions of the base stations are the original positions; the base stations with the number of rows and columns both odd or even are set at the original positions; the number of rows and columns Base stations with different parity are set at the offset set at the bottom right of the original position; the set offset ensures that the scanning ranges of adjacent base stations overlap;

[0100] For the base stations in the scalable base station array, base stations with an odd number of columns are marked as type A, and base stations with an even number of columns are marked as type B.

[0101] in the use of such as Figure 10 When the base station array structure is shown, S3 is specifically:

[0102] The smallest unit of the base s...

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Abstract

The invention provides an optical tracking method based on a scalable base station array. By setting two cycle interleaved scanning working modes, thus the difficulty of signal sorting is reduced, atthe same time, the signal sampling rate of a scanning range overlapping area is doubled. The technical scheme of the present invention is that a receiver is set on a target to be tracked, and the target to be tracked is scanned by using an expandable base station array. The expandable base station array is formed by m*n base stations in m rows and n columns, the scanning ranges of adjacent base stations overlap, and one row of base stations is formed by setting class A base stations and class B base stations with intervals. The working period of the class A base stations is set to be TA, the working period of the class B base stations is set to be TB, the working time sequence of the expandable base station array is TATBTATB to TATB in interlacement. The receiving time of scanning signalsin x and y directions by the target to be tracked and a corresponding base station are judged. The pose of the receiver is calculated based on the transmission time of a start signal, the receiver's reception time of the scan signal of the same base station and the internal and external parameters of a calibrated base station.

Description

technical field [0001] The invention relates to the technical field of designing optical tracking, and in particular relates to an optical tracking method based on a scalable base station array. Background technique [0002] HTC VIVE consists of a transmitter base station and a photosensitive receiver. The transmitter system can send out periodic light signals to scan the tracking area. After receiving the scanning signal from the transmitter, the receiver converts the light signal into a digital signal, so as to obtain the image coordinates of the receiver relative to the transmitter. When a certain number of After the receiver is scanned, the computer vision algorithm can be used to obtain the spatial pose of the rigid body composed of the receiver. [0003] The working principle of HTC VIVE is as follows: [0004] HTC VIVE's tracking system includes 2 transmitter base stations, 1 head-mounted display and 2 handles. There are dozens of photosensitive receivers installed...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/16
CPCG01S5/16
Inventor 翁冬冬荀航李冬胡翔李跃
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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