| In recent years, visualization technology has a qualitative leap in every application field. Combining three-dimensional(3D) visualization system and machine can realize the scene observation and instrumentation integration in virtual reality. As the middle control equipment of many monitoring instruments, Pan-Tilt-Unit(PTU) rotation and moving direction could be controlled by the virtual scene system for tracking the trajectory. Further, since the expanding civil applications and military applications of PTU, it requires higher control accuracy. Inertial sensors capture the precise rotary posture of the working Pan-Tilt.Based on the model of 3D scene perspective transformation controlling the turning of Pan-Tilt, this paper establishes the date connection between the 3D software and the two-degree of freedom PT, and mainly achieves the analysis and conversion between the collected date of the 3D visualization software and the data which Pan-Tilt can received. In the part of scene control the slave computer, this paper mainly describes the acceptable instruction format of Pan-Tilt,and analyses kinematics posture of two-degree PTU. Data communication link is established between the 3D scene and PTU, so the slave computer is under control to operate.In the part of posture capture, inertial motion capture sensor is fixed to Pan-Tilt,and motion data will be transferred to the processor. This process uses dynamics stance settlement and Kalman filter algorithm, which fuses calculation data of accelerometer and angular velocity. The processed data is transmitted to host computer so the staff can control precise deflection position of Pan-Tilt in real time.The bidirectional communication system between the 3D scene and the local Pan-Tilt has important applications in the field of virtual reality interaction. At the same time, using sensors to obtain the accurate posture of equipment is of great significance for precise control of Platform equipment in civil and military. |
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