CN-115597627-B - Posture correction method, device, chip, equipment and storage medium

Abstract

The application discloses a posture correction method, a posture correction device, a chip, equipment and a storage medium, and relates to the technical field of positioning. The method comprises the steps of determining an attitude drift amount based on first sensor data of a first device and second sensor data of a second device, wherein the attitude drift amount is used for representing the drifting condition of the attitude of the first device relative to the second device, and carrying out attitude correction based on the attitude drift amount to obtain corrected first sensor data and/or second sensor data. The embodiment of the application improves the accuracy of the equipment gesture tracking result without increasing extra hardware cost.

Inventors

• CAO MIN

Assignees

• 哲库科技(上海)有限公司

Dates

Publication Date

20260505

Application Date

20220928

Claims (14)

1. 1. A method of gesture correction for a first device, the method comprising: acquiring first initial sensor data of the first equipment and receiving second initial sensor data sent by second equipment when the first equipment is in a wearing state and the gesture tracking requirement exists, wherein the second initial sensor data is sent by the second equipment when the second equipment is in the wearing state; Determining an initial relative pose based on the first initial sensor data and the second initial sensor data; In the gesture tracking process, under the condition that a gesture correction period is reached, acquiring first real-time sensor data of the first equipment, and receiving second real-time sensor data sent by the second equipment; determining a real-time relative pose based on the first real-time sensor data and the second real-time sensor data; Determining a posture difference value between the real-time relative posture and the initial relative posture as a posture drift amount, wherein the posture drift amount is used for representing the drifting condition of the posture of the first equipment relative to the second equipment; and correcting the gesture based on the gesture drift amount to obtain corrected first sensor data of the first device and/or corrected second sensor data of the second device.
2. 2. The method of claim 1, wherein the performing attitude correction based on the attitude drift amount to obtain corrected first sensor data of the first device and/or second sensor data of the second device comprises: Performing Kalman filtering based on the first real-time sensor data and/or the second sensor data and the attitude drift amount to obtain an attitude error; and correcting the posture based on the posture error to obtain corrected first sensor data and/or second sensor data.
3. 3. The method according to claim 2, wherein the method further comprises: performing Kalman filtering based on the first real-time sensor data and/or the second sensor data and the attitude drift amount to obtain a sensor error; and performing sensor correction based on the sensor error.
4. 4. A method according to any one of claims 1 to 3, wherein the first device is a headset device, the method further comprising: And sending the corrected first sensor data and/or the corrected second sensor data to a terminal device so that the terminal device can perform spatial sound effect processing based on the first sensor data and/or the second sensor data.
5. 5. A method according to any one of claims 1 to 3, wherein the method further comprises: And sending the first sensor data to the second device so that the second device performs posture correction based on the second sensor data and the first sensor data.
6. 6. A method according to any one of claims 1 to 3, wherein the method further comprises: when the first equipment and the second equipment are paired equipment, the first equipment and the second equipment are in data communication connection; When the first equipment and the second equipment are unpaired equipment, the first equipment and the terminal equipment are connected in a data communication mode, and the second equipment is connected in a data communication mode, the data communication is established between the first equipment and the second equipment through the terminal equipment; wherein the data communication connection is for data transmission between the first device and the second device.
7. 7. A method for posture correction, the method being for a terminal device, the method comprising: When a first device is in a wearing state and a gesture tracking requirement exists, receiving first initial sensor data sent by the first device and second initial sensor data sent by a second device, wherein the second initial sensor data is sent by the second device in the wearing state; Determining an initial relative pose based on the first initial sensor data and the second initial sensor data; In the gesture tracking process, under the condition that a gesture correction period is reached, receiving first real-time sensor data sent by the first equipment and receiving second real-time sensor data sent by the second equipment; determining a real-time relative pose based on the first real-time sensor data and the second real-time sensor data; Determining a posture difference value between the real-time relative posture and the initial relative posture as a posture drift amount, wherein the posture drift amount is used for representing the drifting condition of the posture of the first equipment relative to the second equipment; and correcting the gesture based on the gesture drift amount to obtain corrected first sensor data of the first device and/or corrected second sensor data of the second device.
8. 8. The method of claim 7, wherein the first device is a headset device; The method further comprises the steps of: and performing spatial sound effect processing based on the corrected first sensor data and/or the corrected second sensor data.
9. 9. An attitude correction apparatus for a first device, the apparatus comprising: The system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is used for acquiring first initial sensor data of the first equipment and receiving second initial sensor data sent by the second equipment when the first equipment is in a wearing state and the gesture tracking requirement exists, and the second initial sensor data is sent by the second equipment when the second equipment is in the wearing state; A first determination module for determining an initial relative pose based on the first initial sensor data and the second initial sensor data; The acquisition module is further used for acquiring first real-time sensor data of the first equipment and receiving second real-time sensor data sent by the second equipment under the condition that an attitude correction period is reached in the attitude tracking process; the first determining module is further configured to determine a posture difference value between the real-time relative posture and the initial relative posture as a posture drift amount, where the posture drift amount is used to characterize a drifting condition of a posture of the first device relative to the second device; And the first posture correction module is used for correcting the posture based on the posture drift amount to obtain corrected first sensor data of the first equipment and/or corrected second sensor data of the second equipment.
10. 10. An attitude correction apparatus for a terminal device, comprising: The second determining module is used for receiving first initial sensor data sent by the first equipment and second initial sensor data sent by the second equipment when the first equipment is in a wearing state and the gesture tracking requirement exists, wherein the second initial sensor data is sent by the second equipment when the second equipment is in the wearing state; Determining an initial relative pose based on the first initial sensor data and the second initial sensor data; In the gesture tracking process, under the condition that a gesture correction period is reached, receiving first real-time sensor data sent by the first equipment and receiving second real-time sensor data sent by the second equipment; determining a real-time relative pose based on the first real-time sensor data and the second real-time sensor data; Determining a posture difference value between the real-time relative posture and the initial relative posture as a posture drift amount, wherein the posture drift amount is used for representing the drifting condition of the posture of the first equipment relative to the second equipment; And the second posture correction module is used for carrying out posture correction based on the posture drift amount so as to obtain corrected first sensor data of the first equipment and/or corrected second sensor data of the second equipment.
11. 11. A chip, the chip comprising a processor configured to: Acquiring first initial sensor data of first equipment and receiving second initial sensor data sent by second equipment under the condition that the first equipment is in a wearing state and gesture tracking requirements exist; Determining an initial relative pose based on the first initial sensor data and the second initial sensor data; In the gesture tracking process, under the condition that a gesture correction period is reached, acquiring first real-time sensor data of the first equipment, and receiving second real-time sensor data sent by the second equipment; determining a real-time relative pose based on the first real-time sensor data and the second real-time sensor data; Determining a posture difference value between the real-time relative posture and the initial relative posture as a posture drift amount, wherein the posture drift amount is used for representing the drifting condition of the posture of the first equipment relative to the second equipment; and correcting the gesture based on the gesture drift amount to obtain corrected first sensor data of the first device and/or corrected second sensor data of the second device.
12. 12. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one program that is loaded and executed by the processor to implement the pose correction method according to any of claims 1 to 8.
13. 13. A computer-readable storage medium, in which at least one program is stored, the at least one program being loaded and executed by a processor to implement the posture correction method according to any one of claims 1 to 6, or to implement the posture correction method according to any one of claims 7 to 8.
14. 14. A computer program product, characterized in that it comprises computer instructions stored in a computer-readable storage medium, from which computer instructions a processor of a computer device reads, which processor executes the computer instructions, causing the computer device to perform the posture correction method according to any one of claims 1 to 6 or to perform the posture correction method according to any one of claims 7 to 8.

Description

Posture correction method, device, chip, equipment and storage medium Technical Field The embodiment of the application relates to the technical field of positioning, in particular to a posture correction method, a device, a chip, equipment and a storage medium. Background With the development of audio playback devices and audio applications, earphone devices can provide users with an immersive audio experience through spatial audio. Spatial audio tracks the user's head movements through head tracking techniques and remaps the sound field based on the motion data, ensuring that the sound field is fixed at any determined location in space, such as where the playback device is located. In the related art, the earphone device realizes head tracking by internally arranging an inertial measurement unit, but the head tracking attitude error increases with longer use time due to drift error based on devices in measurement, so that the position deviation of a sound field increases, and the spatial audio effect is affected. Disclosure of Invention The embodiment of the application provides a posture correction method, a posture correction device, a chip, equipment and a storage medium, which can improve the accuracy of equipment posture tracking. The technical scheme is as follows: In one aspect, an embodiment of the present application provides a posture correction method, which is used for a first device, and includes: Determining an attitude drift amount based on first sensor data of the first device and second sensor data of a second device, the attitude drift amount being used to characterize a drift condition of the first device and an attitude relative to the second device; And correcting the posture based on the posture drift amount to obtain corrected first sensor data and/or second sensor data. In another aspect, an embodiment of the present application provides a gesture correction method, where the method is used for a terminal device, and the method includes: Determining an attitude drift amount based on first sensor data and second sensor data, wherein the first sensor data is sensor data of a first device, the second sensor data is sensor data of a second device, and the attitude drift amount is used for representing the drift condition of the attitude of the first device relative to the second device; And correcting the posture based on the posture drift amount to obtain corrected first sensor data and/or second sensor data. In another aspect, an embodiment of the present application provides an attitude correction apparatus for a first device, including: a first determination module for determining an attitude drift amount based on first sensor data of the first device and second sensor data of a second device, the attitude drift amount being used to characterize a drift condition of an attitude of the first device relative to the second device; and the first posture correction module is used for correcting the posture based on the posture drift amount so as to obtain corrected first sensor data and/or second sensor data. In another aspect, an embodiment of the present application provides an attitude correction apparatus, where the apparatus is used in a terminal device, and the apparatus includes: A second determining module, configured to determine an attitude drift amount based on first sensor data and second sensor data, where the first sensor data is sensor data of a first device, the second sensor data is sensor data of a second device, and the attitude drift amount is used to characterize a drift condition of an attitude of the first device relative to the second device; and the second posture correction module is used for carrying out posture correction based on the posture drift amount so as to obtain corrected first sensor data and/or second sensor data. In another aspect, an embodiment of the present application provides a chip including a processor configured to: determining an attitude drift amount based on first sensor data of a first device and second sensor data of a second device, the attitude drift amount being used to characterize a drift condition of an attitude of the first device relative to the second device; And correcting the posture based on the posture drift amount to obtain corrected first sensor data and/or second sensor data. In another aspect, an embodiment of the present application provides an electronic device, where the device includes a processor and a memory, where the memory stores at least one section of program, and the at least one section of program is loaded and executed by the processor to implement the posture correction method as described in the above aspect. In another aspect, embodiments of the present application provide a computer readable storage medium having stored therein at least one program, the at least one instruction being loaded and executed by a processor to implement the attitude correction method according to the above aspect. In anoth