Method and apparatus for displaying images on head-mounted display device, device and medium

A non-volatile computer-readable storage medium having computer program instructions stored therein, wherein when executed by a processor, the computer program instructions implement a method for displaying images on a head-mounted display device, the method comprising:

• acquiring predicted state variables and observation data at a current correction time, wherein the predicted state variables comprise:
• a first predicted orientation of a head-mounted display device in a world coordinate system, a second predicted orientation of a target device in the world coordinate system, a first predicted bias parameter of a first magnetometer mounted on the head-mounted display device, and a second predicted bias parameter of a second magnetometer mounted on the target device:
• the target device is a device associated with image display of the head-mounted display device;
• and the observation data comprises at least one of the following:
• data collected by the first magnetometer and the second magnetometer, and data collected by at least one of a first accelerometer mounted on the head-mounted display device and a second accelerometer mounted on the target device:
• determining corrected state variables at the current correction time based on the predicted state variables and the observation data at the current correction time, wherein the corrected state variables include:
• a first corrected orientation of the head-mounted display device in the world coordinate system, a second corrected orientation of the target device in the world coordinate system, a first corrected bias parameter of the first magnetometer, and a second corrected bias parameter of the second magnetometer:
• the first predicted bias parameter at the current correction time is equal to a corrected bias parameter of the first magnetometer at a previous correction time:
• the second predicted bias parameter at the current correction time is equal to a corrected bias parameter of the second magnetometer at the previous correction time:
• a first predicted orientation at the current correction time is obtained by adding a first angular variation of the head-mounted display device at the current correction time to a corrected orientation of the head-mounted display device at the previous correction time:
• a second predicted orientation at the current correction time is obtained by adding a second angular variation of the target device at the current correction time to a corrected orientation of the target device at the previous correction time:
• the first angular variation of the head-mounted display device at the current correction time includes:
• an integral value of angular velocity data collected by a first gyroscope mounted on the head-mounted display device from the previous correction time to the current correction time;
• and the second angular variation of the target device at the current correction time includes:
• an integral value of angular velocity data collected by a second gyroscope mounted on the target device from the previous correction time to the current correction time:
• determining a relative orientation between the head-mounted display device and the target device based on the first corrected orientation and the second corrected orientation;
• and
• rendering to-be-displayed images of the head-mounted display device based on the relative orientation, so as to display the to-be-displayed images through the head-mounted display device.

A method for determining a relative orientation, comprising:

• acquiring predicted state variables and observation data at a current correction time, the predicted state variables including:
• a relative predicted orientation of a first device and a second device in a world coordinate system, a first predicted bias parameter of a first magnetometer mounted on the first device, and a second predicted bias parameter of a second magnetometer mounted on the second device, the observation data including:
• at least one of the following:
• data collected by the first magnetometer and the second magnetometer, and data collected by at least one of a first accelerometer mounted on the first device and a second accelerometer mounted on the second device;
• determining corrected state variables at the current correction time based on the predicted state variables and the observation data at the current correction time, the corrected state variables including:
• a relative corrected orientation of the first device and the second device in the world coordinate system, a first corrected bias parameter of the first magnetometer, and a second corrected bias parameter of the second magnetometer, the first predicted bias parameter at the current correction time being equal to a corrected bias parameter of the first magnetometer at a previous correction time, and the second predicted bias parameter at the current correction time is equal to a corrected bias parameter of the second magnetometer at the previous correction time, the relative predicted orientation at the current correction time being determined by a corrected orientation of the first device at the previous correction time, a first angular variation of the first device at the current correction time, a corrected orientation of the second device at the previous correction time, and a second angular variation of the second device at the current correction time, the first angular variation of the first device at the current correction time including an integral value of an angular velocity data collected by a first gyroscope arranged on the first device from the previous correction time to the current correction time, the second angular variation of the second device at the current correction time includes an integral value of an angular velocity data collected by a second gyroscope arranged on the second device from the previous correction time to the current correction time;
• determining a relative orientation between the first device and the second device based on the first corrected orientation and the second corrected orientation.