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CN-121988023-A - Dynamic radar map real-time feedback motion sensing game space position offset system

CN121988023ACN 121988023 ACN121988023 ACN 121988023ACN-121988023-A

Abstract

The invention relates to a dynamic radar map real-time feedback motion sensing game space position offset system, and belongs to the technical field of motion sensing game man-machine interaction. The system comprises a gait detection and mapping unit, a displacement estimation and radar scaling unit, a mobile phone orientation determination and coordinate system establishment unit and a system establishment and conversion unit, wherein walking steps of a player are identified and mapped into game radar fixed displacement units, non-walking movement displacement is estimated and scaled to radar coordinates by fusing sensor data based on the results of the walking steps, mobile phone orientation is determined by integrating gyroscope and magnetometer data, a unified coordinate system is established by integrating gyroscope and magnetometer data, a relative displacement system is established, zero reference is recorded, and physical displacement is converted into radar pixel displacement. The effects of no need of complex external hardware, accurate adaptation of walking and non-walking actions and unification of physical-virtual space coordinates are achieved, the problems of positioning deviation and feedback dislocation in the prior art are solved, and the instantaneity and immersion of the somatosensory game are improved.

Inventors

  • GAO MING
  • ZHANG YUEDONG

Assignees

  • 上海屏云科技有限公司

Dates

Publication Date
20260508
Application Date
20260212

Claims (12)

  1. 1. A dynamic radar map real-time feedback somatosensory game space position offset system is characterized by comprising a gait detection and mapping unit, a displacement estimation and radar scaling unit, a mobile phone orientation determination and coordinate system establishment unit and a system construction and conversion unit; The gait detection and mapping unit is used for detecting typical walking action modes of a player aiming at a scene that the player holds a prop gun to move in a physical space, identifying a stepping action by analyzing periodic characteristics presented by accelerometer data, mapping each detected step into a fixed displacement unit on a game radar, wherein the game radar is a position display arranged in a game, and obtaining a gait detection report and mapping set; The displacement estimation and radar scaling unit is used for directly moving an arm or a body of a player without walking based on the gait detection report and mapping set, and performing fusion processing on accelerometer and gyroscope data through a sensor fusion algorithm; The mobile phone orientation determining and coordinate system establishing unit acquires mobile phone angular velocity information through a gyroscope to capture an instantaneous rotation state, and combines geomagnetic field data acquired by a magnetometer to determine the mobile phone orientation; The system construction and conversion unit is used for constructing a relative displacement mapping system, a player stands at a starting position to click a calibration button, the sensor reading at the moment is recorded to serve as a zero reference, the accumulated displacement of the player relative to the zero reference is continuously monitored, and the physical displacement of the player is converted into pixel displacement on the game radar through a preset scaling factor.
  2. 2. The system of claim 1, wherein the analysis of the periodic characteristics of the accelerometer data is used for identifying a stepping motion, and the analysis comprises the steps of preprocessing the raw data acquired by the accelerometer, removing clutter signals caused by environmental electromagnetic interference through low-pass filtering, traversing the processed data by adopting a sliding window method, extracting peak intervals, trough forms and amplitude change rules from the data section by section, comparing the peak intervals, trough forms and amplitude change rule characteristics with a preset typical walking motion characteristic library, and judging the corresponding periodic data fragments as signals corresponding to the stepping motion only when the characteristic matching degree reaches a preset standard.
  3. 3. The system according to claim 1, wherein the fixed displacement units are used for establishing a corresponding relation between steps and radar displacement, and the specific process is that a scene parameter configuration module is built in the system, displacement unit parameters corresponding to different game scenes are stored in the scene parameter configuration module, a player can select a current scene through a scene selection interface when entering a game, after receiving a scene selection instruction, the module automatically invokes a fixed displacement unit value of the corresponding scene, and when the gait detection and mapping unit recognizes a stepping action, the value is directly invoked as a displacement unit on the game radar.
  4. 4. The system of claim 1, wherein the sensor fusion algorithm is used for processing accelerometer and gyroscope data, and the specific process is that a data fusion module is constructed by adopting a complementary filtering algorithm, weights of two types of data are dynamically allocated according to different characteristics of the accelerometer and the gyroscope, the gyroscope data weight and the accelerometer data weight are respectively adjusted according to different frequency data processing stages, each frame of data is fused, and finally motion data for inhibiting drift errors and noise interference is output.
  5. 5. The system of claim 1 wherein the zero speed detection mechanism is configured to reset the speed integral by smoothing the acceleration value output from the accelerometer to eliminate numerical fluctuations due to transient vibrations by moving average, monitoring the smoothed acceleration value in real time, continuously determining that the acceleration value is within a preset rest threshold range during the monitoring process, continuously determining that all the monitored values are not within the rest threshold range for a period of time, determining that the cell phone is in a rest state, automatically suspending the operation of the acceleration integral by the system at this time, and resetting the currently stored speed calculation value to an initial state.
  6. 6. The system of claim 1, wherein the scaling operation is used to match the radar coordinate system by actively calibrating the player to determine the actual range of the physical game space, moving the player over a predetermined physical space distance, recording the physical movement distance during the movement, marking the corresponding virtual movement range on the game radar, calculating the ratio of the side length of the virtual range to the physical distance, storing the ratio as a scaling factor, estimating the physical displacement vector, and multiplying each component of the vector by the scaling factor to obtain the displacement value of the game radar coordinate system.
  7. 7. The system according to claim 1, wherein the gyroscope in the mobile phone orientation determining and coordinate system establishing unit is used for optimizing the quality of angular velocity information, and the method comprises the steps of processing original angular velocity information acquired by the gyroscope by adopting a Kalman filtering algorithm, establishing a state equation of angular velocity change, confirming a change rule of angular velocity along with time, establishing a measurement equation by combining original angular velocity data, dynamically adjusting a filtering gain by calculating deviation between a predicted value and a measured value, correcting the predicted value by utilizing the adjusted gain, and finally generating a smooth angular velocity change curve without obvious fluctuation.
  8. 8. The system of claim 1, wherein the mobile phone orientation determining and coordinate system establishing unit combines geomagnetic field data to determine the mobile phone orientation, and the method comprises the steps of calculating a variance value of magnetometer acquisition data in real time, judging the stability of a current environment magnetic field through the variance value, adjusting weights of magnetometer data corresponding to the variance value in a fusion process, integrating angular velocity data of a gyroscope and geomagnetic field data of the magnetometer through a weighted average algorithm after the weights are determined, calculating an included angle result of the mobile phone and geomagnetic north pole according to an integration result, and taking the included angle result as mobile phone orientation data.
  9. 9. The system according to claim 1, wherein the unified coordinate system is used for clear space reference, and the specific process is that an initial station position when a player clicks a calibration button is taken as a coordinate origin, a forward direction determined by the orientation of the mobile phone is set as a vertical axis positive direction of the coordinate system, horizontal direction information is acquired by an attitude sensor built in the mobile phone, a preset angle is rotated clockwise to obtain a horizontal axis positive direction by taking the forward direction as a reference, and the numerical ranges of the vertical axis and the horizontal axis are set according to the length and the width of the physical game space.
  10. 10. The system according to claim 1, wherein the calibration button in the system construction and conversion unit is used for obtaining a reliable zero reference, and the specific process is that after a player clicks the calibration button, the system pops up a text prompt which remains stationary on a game interface, simultaneously starts gesture monitoring, immediately resets timing and re-prompts if the mobile phone is detected to have obvious movement, continuously collects sensor readings for a later set period of time if the mobile phone remains stationary, checks the deviation degree of each group of data after collection is completed, eliminates abnormal values, calculates an average value for the remaining effective data, and stores the average value as the zero reference.
  11. 11. The system according to claim 1, wherein the continuous monitoring in the system construction and conversion unit is used for calculating the accumulated displacement, and the method comprises the specific processes of collecting the readings of the current sensor in real time at a fixed frequency, correcting errors of the current readings according to intrinsic error parameters calibrated when the sensor leaves a factory, calculating differences of the corrected current readings and zero references to obtain single displacement increments, combining the axial directions of a unified coordinate system in the calculation process to ensure that the signs of the increments are consistent with the actual displacement directions, and finally accumulating the obtained displacement increments in sequence to obtain accumulated displacement data of a player relative to an initial position.
  12. 12. The system of claim 1, wherein the preset scaling factor is used for converting physical displacement and pixel displacement, and the specific process is that a basic scaling factor is preset according to the resolution of the game radar, the radar resolution is changed, the basic factor is automatically recalculated according to the new resolution, the display proportion of the physical displacement under different resolutions is ensured to be consistent, meanwhile, a player or a developer can adjust the factor value according to the actual experience, and when the physical displacement data is converted, the displacement value is multiplied by the scaling factor, so that the corresponding pixel displacement on the game radar is obtained.

Description

Dynamic radar map real-time feedback motion sensing game space position offset system Technical Field The invention belongs to the technical field of somatosensory game man-machine interaction, and particularly relates to a dynamic radar map real-time feedback somatosensory game space position offset system. Background With the upgrading of the game industry to immersive experience, the somatosensory game continuously expands the scale of users and scene demands by virtue of the interaction characteristic of 'actions, namely operations', and particularly in the fields of home entertainment, VR interaction and the like, the real-time and accuracy requirements of players on physical actions and virtual space feedback are remarkably improved. However, the current mainstream motion sensing game space position feedback technology still faces the multi-dimensional technical bottleneck, and is difficult to meet the high-quality interaction requirement, on one hand, a positioning scheme relying on external auxiliary hardware is the mainstream choice of industry, but the scheme has obvious limitations that a depth camera is limited by a view angle, a player is out of a shooting range and is easy to be interfered by ambient light, a plurality of devices are required to be additionally arranged to construct a network in a wider coverage range of a positioning base station, hardware purchasing and installation cost is higher, meanwhile, the requirements on space layout are strict, small families or irregular game space are difficult to adapt, so that popularity is limited, on the other hand, the lightweight scheme of the external device is not required, although the use threshold is reduced, due to the fact that the technology design defects have a short plate, most schemes only adopt a single accelerometer to collect data, when the player is identified to walk, the two interference actions such as ' walking ' and ' hand unintentional shake ' are not similar, the problem that ' walking is easy to be caused, the walking is easy to be identified, the motion is displayed, the motion is not detected is avoided, and the motion is not is difficult to be detected, and the motion is calculated due to the fact that the rotation state of the motion is not used, and the motion is stable, and the motion is caused, and the position of the motion is stable is caused. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a dynamic radar map real-time feedback motion sensing game space position offset system, The aim of the invention can be achieved by the following technical scheme: The system comprises a gait detection and mapping unit, a displacement estimation and radar scaling unit, a mobile phone orientation determination and coordinate system establishment unit and a system construction and conversion unit; The gait detection and mapping unit is used for detecting typical walking action modes of a player aiming at a scene that the player holds a prop gun to move in a physical space, identifying a stepping action by analyzing periodic characteristics presented by accelerometer data, mapping each detected step into a fixed displacement unit on a game radar, wherein the game radar is a position display arranged in a game, and obtaining a gait detection report and mapping set; The displacement estimation and radar scaling unit is used for directly moving an arm or a body of a player without walking based on the gait detection report and mapping set, and performing fusion processing on accelerometer and gyroscope data through a sensor fusion algorithm; The mobile phone orientation determining and coordinate system establishing unit acquires mobile phone angular velocity information through a gyroscope to capture an instantaneous rotation state, and combines geomagnetic field data acquired by a magnetometer to determine the mobile phone orientation; The system construction and conversion unit is used for constructing a relative displacement mapping system, a player stands at a starting position to click a calibration button, the sensor reading at the moment is recorded to serve as a zero reference, the accumulated displacement of the player relative to the zero reference is continuously monitored, and the physical displacement of the player is converted into pixel displacement on the game radar through a preset scaling factor. The method comprises the steps of analyzing periodic characteristics of accelerometer data, preprocessing raw data acquired by the accelerometer, removing clutter signals caused by environmental electromagnetic interference through low-pass filtering, traversing the processed data by adopting a sliding window method, extracting peak intervals, trough forms and amplitude change rules from the data section by section, comparing the peak intervals, trough forms and amplitude change rule characteristics with a preset typical walking action characteristic library, and judgin