| 摘要 |
FIELD: physics.SUBSTANCE: method of correcting drift of a micromechanical gyroscope used in an augmented reality system on a mobile object. The invention relates to navigation instrument-making. Efficiency of spatial orientation of operators controlling mobile objects (motor cars, waterborne and airborne vehicles) can be increased by using augmented reality systems in the form of head modules which include self-contained orientation subsystems which enable to determine three angular coordinates of the position of an observation line in space. The shortcoming of orientation subsystems based on micromechanical elements (gyroscopes, accelerometers, magnetometers) is the considerable drift of data, especially on the yaw angle, which reaches several hundreds of degrees per hour. Using a regression analysis method, data from an on-board receiver of a satellite navigation system are used to construct a three-dimensional motion vector of the object and upon detecting a rectilinear motion section, gyroscope readings are corrected on the yaw and pitch angles via reduction thereof to angular coordinates of the current motion vector. The position of the head of the operator relative to the mobile object is taken into account through optical recognition of graphic markers (clear images of different geometric figures) fixed on the object in the field of view of a video camera, also included in the head module of the augmented reality system.EFFECT: high accuracy of spatial orientation through micromechanical gyroscopes via correction of the drift thereof using satellite navigation system data and optical recognition of augmented reality markers.1 dwg |
