Method for tracking and displaying user's spatial position and orientation, a method for representing virtual reality for a user, and systems of embodiment of such methods

A method for representation of virtual space for a user taking into account his/her motion in the real space, including the following steps:

• a) attaching, at each of the main articulations of the user's locomotor system segments, means for determination of at least one angle between segments that are adjacent to a respective articulation;
• b) determination of linear dimensions of the user's locomotor system segments;
• c) arranging, at least at one of the user's locomotor systems segments, means for determining reference directions;
• d) determination of orientation of at least one segment, whereat the reference directions determination means are arranged, relative to said reference directions;
• e) determination of angles between segments that are adjacent to said main articulations;
• f) determination of orientation and position of a user in space as a whole on the basis of obtained values of angles and orientation of said at least one segment, whereat the reference directions determination means are arranged;
• g) determination of a reference segment or reference segments of the user's locomotor system segments;
• h) positioning of said reference segment or segments relative to a reference in the virtual space to be displayed;
• i) determination of position and orientation of user's head in virtual space for determining the user's viewing field in the virtual space;
• j) formation and representation for a user of an area of the virtual space corresponding to his/her viewing field.

A system of tracking and displaying the user's spatial position and orientation, comprising

• a plurality of relative rotation angles sensors arranged adjacently to main articulations between the user's locomotor system segments, or at said segments proper for outputting signals of relative rotation angles of said segments at said sensors outputs;
• means for determination of reference directions, arranged at least at one of the user's locomotor system segments, for outputting a reference direction signal at output of said means for determination of reference directions;
• means for analogue-to-digital conversion of signals, having a first input for receiving signals of said plurality of relative rotation angles sensors, a second input for receiving signals of said at least one means for determining reference directions, and an output for outputting digital data;
• means for processing digital data for constructing a mathematical model of the three-dimensional space and a user in this space, having an input for receiving said digital data, and an output for outputting data on the user's position and orientation in the three-dimensional space to be simulated, and
• means for displaying the user's spatial position and orientation, having an input for receiving data on the user's position and orientation in the three-dimensional space to be simulated.

A method of tracking and displaying a position and orientation of a user in space, comprising the steps of:

• a) attaching means for determining at least one angle between segments adjacent to a respective articulation at each one of main articulations of segments of the user's locomotor system;
• b) disposing, at least at one of the user's locomotor system segments, means for determining reference directions;
• c) determining orientation of at least one segment, at which segment the reference direction determination means are disposed, relative to said reference directions;
• d) determining angles between segments which are adjacent to said main articulations;
• e) determining the user's position and orientation as a whole in space on the basis of obtained values of angles, and orientation of said at least one segment, at which segment the reference directions determination means are disposed.