Data processing method for multi-sensor fusion, positioning apparatus and virtual reality device

A positioning apparatus, comprising a rigid body, a processor, a memory, and a plurality of sensor sets and an inertial device secured to the body;

• wherein the positioning apparatus has a physical center;
• and
• the processor is configured to execute at least one computer program stored in the memory for performing the following steps:
• a pose calculation step:
• calculating a pose of a physical center by using data of at least one sensor set in a first positioning period;
• a step of obtaining a predicted pose of the physical center:
• obtaining the predicted pose of the physical center according to an inertial navigation of the pose of the physical center;
• a step of obtaining a three-dimensional coordinate in a second positioning period:
• calculating a three-dimensional coordinate pose of each sensor set in the second positioning period;
• a step of calculating third inertial navigation data:
• calculating, based on the three-dimensional coordinate pose of each sensor set, third inertial navigation data of each sensor set in the second positioning period;
• a step of calculating converted poses of the physical center:
• obtaining the converted poses of the physical center respectively through the third inertial navigation data of each sensor set and a pose relationship between each sensor set and the physical center;
• and
• a step of obtaining a predicted pose of each sensor set:
• obtaining the predicted pose of each sensor set based on the converted poses of the physical center.

A virtual reality device, comprising a positioning apparatus and an imaging apparatus, wherein the positioning apparatus is mounted on a housing of a head-mounted display device, wherein

• the positioning apparatus comprises a rigid body, a processor, a memory, and a plurality of sensor sets and an inertial device secured to the body;
• the positioning apparatus has a physical center;
• and
• the processor is configured to execute at least one computer program stored in the memory for performing the following steps:
• a pose calculation step:
• calculating a pose of a physical center by using data of at least one sensor set in a first positioning period;
• a step of obtaining a predicted pose of the physical center:
• obtaining the predicted pose of the physical center according to an inertial navigation of the pose of the physical center;
• a step of obtaining a three-dimensional coordinate in a second positioning period:
• calculating a three-dimensional coordinate pose of each sensor set in the second positioning period;
• a step of calculating third inertial navigation data:
• calculating, based on the three-dimensional coordinate pose of each sensor set, third inertial navigation data of each sensor set in the second positioning period;
• a step of calculating converted poses of the physical center:
• obtaining the converted poses of the physical center respectively through the third inertial navigation data of each sensor set and a pose relationship between each sensor set and the physical center;
• and
• a step of obtaining a predicted pose of each sensor set:
• obtaining the predicted pose of each sensor set based on the converted poses of the physical center.