本文選題：電磁定位 + 多項(xiàng)式擬合��； 參考：《哈爾濱工程大學(xué)》2016年碩士論文

【摘要】：虛擬現(xiàn)實(shí)是一項(xiàng)人機(jī)交互式界面技術(shù),可以較為真實(shí)的模擬人處于自然環(huán)境中的行為�？臻g位置跟蹤技術(shù)是虛擬現(xiàn)實(shí)技術(shù)中重要的組成部分,其性能表現(xiàn)直接影響虛擬現(xiàn)實(shí)交互過(guò)程中的真實(shí)感。由于電磁定位系統(tǒng)具有精度良好、實(shí)時(shí)性高、工作范圍適中等優(yōu)點(diǎn),使之成為了室內(nèi)小范圍虛擬現(xiàn)實(shí)系統(tǒng)實(shí)現(xiàn)的技術(shù)首選。電磁定位系統(tǒng)的磁場(chǎng)分布易受外界環(huán)境干擾而發(fā)生形變,致使定位結(jié)果存在較大的誤差,使用前需要對(duì)電磁定位系統(tǒng)進(jìn)行校準(zhǔn)。本文采用多項(xiàng)式擬合和鄰點(diǎn)插值方法,對(duì)室內(nèi)電磁定位系統(tǒng)的誤差進(jìn)行校正,校正后的結(jié)果都達(dá)到了實(shí)際應(yīng)用需求。多項(xiàng)式擬合方法的前期樣本數(shù)據(jù)采集過(guò)程較快,校正過(guò)程計(jì)算量相對(duì)較小,但精度相對(duì)不高;鄰點(diǎn)插值方法的前期樣本數(shù)據(jù)采集過(guò)程較慢,校正過(guò)程計(jì)算量較大,但取得了更高的精度。本論文具體工作歸納如下:首先,通過(guò)對(duì)現(xiàn)有室內(nèi)定位系統(tǒng)及其優(yōu)缺點(diǎn)分析,論證了選用電磁定位技術(shù)是解決室內(nèi)三維位置跟蹤技術(shù)的有效手段。構(gòu)建了實(shí)際測(cè)試實(shí)驗(yàn)環(huán)境,設(shè)計(jì)了定位系統(tǒng)性能測(cè)試實(shí)驗(yàn)方案,分析了電磁定位系統(tǒng)磁場(chǎng)空間存在的非線性形變及其引起的誤差。其次,提出了一種基于多項(xiàng)式擬合的室內(nèi)電磁定位系統(tǒng)全局誤差校正方法。設(shè)計(jì)了建立多項(xiàng)式擬合關(guān)系所需樣本數(shù)據(jù)及測(cè)試數(shù)據(jù)采集方案,為了消除樣本數(shù)據(jù)存在的扭轉(zhuǎn)形變,提出了采用旋轉(zhuǎn)變換矩陣對(duì)樣本數(shù)據(jù)進(jìn)行預(yù)處理。通過(guò)最小二乘合法擬合樣本數(shù)據(jù)的圓曲線,并提取擬合后的圓心及半徑坐標(biāo),建立了電磁坐標(biāo)數(shù)據(jù)庫(kù)。采用多項(xiàng)式擬合法分別在水平方向和垂直方向上建立電磁定位數(shù)據(jù)與真實(shí)空間定位數(shù)據(jù)之間的映射關(guān)系。對(duì)測(cè)試數(shù)據(jù)進(jìn)行處理,驗(yàn)證了該校正算法的精度和有效性。最后,提出了一種基于鄰點(diǎn)插值的誤差校正方法。設(shè)計(jì)了鄰點(diǎn)插值所需樣本數(shù)據(jù)采集方案,提出了采用Delaunay三角剖分法對(duì)電磁定位采樣數(shù)據(jù)進(jìn)行四面體結(jié)構(gòu)劃分,將待校正電磁空間劃分成若干個(gè)四面體集合,隨后對(duì)位于不同四面體內(nèi)的待校正點(diǎn)進(jìn)行局部校正。為了快速定位待插值點(diǎn)所在四面體,提出了利用八叉樹(shù)的方法對(duì)四面體集合建立八叉樹(shù)索引結(jié)構(gòu)。提出采用重心坐標(biāo)加權(quán)插值法對(duì)待插值點(diǎn)進(jìn)行誤差計(jì)算,提高校正精度。對(duì)測(cè)試數(shù)據(jù)進(jìn)行處理,驗(yàn)證了該校正算法得到了更高的精度。
[Abstract]:Virtual reality is a human-computer interactive interface technology, which can simulate the behavior of human being in the natural environment. Spatial position tracking technology is an important part of virtual reality technology, and its performance directly affects the reality of virtual reality interaction process. Because the electromagnetic positioning system has the advantages of good precision, high real-time performance and moderate working range, it has become the first choice of technology for the realization of indoor small-scale virtual reality system. The magnetic field distribution of the electromagnetic positioning system is easily distorted by the external environment, which results in a large error in the positioning results. It is necessary to calibrate the electromagnetic positioning system before use. In this paper, polynomial fitting and neighbor interpolation are used to correct the errors of indoor electromagnetic positioning system. The previous sample data acquisition process of polynomial fitting method is relatively fast, the calculation of correction process is relatively small, but the accuracy is relatively low, the early sample data acquisition process of neighbor interpolation method is slow, and the calculation of correction process is large. But higher accuracy has been achieved. The specific work of this paper is summarized as follows: firstly, through the analysis of the existing indoor positioning system and its advantages and disadvantages, it is demonstrated that the electromagnetic positioning technology is an effective means to solve the indoor three-dimensional position tracking technology. In this paper, an actual testing environment is constructed, and the performance test scheme of the positioning system is designed. The nonlinear deformation in the magnetic field space of the electromagnetic positioning system and the error caused by it are analyzed. Secondly, a global error correction method for indoor electromagnetic positioning system based on polynomial fitting is proposed. In order to eliminate the torsional deformation of the sample data, the rotation transformation matrix is proposed to preprocess the sample data. The circle curve of the sample data was fitted by least square method, and the fitted center and radius coordinates were extracted, and the electromagnetic coordinate database was established. The mapping relationship between electromagnetic positioning data and real spatial positioning data is established in horizontal and vertical directions by polynomial fitting method. The accuracy and validity of the proposed algorithm are verified by processing the test data. Finally, an error correction method based on neighbor interpolation is proposed. A sample data acquisition scheme for neighbor interpolation is designed, and a tetrahedron structure partition of electromagnetic location sampling data by Delaunay triangulation method is proposed. The electromagnetic space to be corrected is divided into several tetrahedron sets. Then local correction is made for the points to be corrected at different quadrihedral bodies. In order to locate the tetrahedron of the point to be interpolated quickly, an octahedral index structure for tetrahedron set is proposed by using octree. In order to improve the accuracy of correction, a weighted interpolation method for barycentric coordinates is proposed to calculate the errors of interpolation points. The processing of test data verifies that the proposed algorithm has higher accuracy.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP391.9

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