CN105979119B - A kind of filtering method and terminal of infrared rocker arm pursuit movement data - Google Patents
A kind of filtering method and terminal of infrared rocker arm pursuit movement data Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000009017 pursuit movement Effects 0.000 title claims abstract description 10
- 238000001914 filtration Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 26
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- 230000006870 function Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 4
- 238000000265 homogenisation Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000003199 nucleic acid amplification method Methods 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/21—Circuitry for suppressing or minimising disturbance, e.g. moiré or halo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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Abstract
The present invention provides the filtering methods and terminal of a kind of infrared rocker arm pursuit movement data, which comprises obtains the exercise data of current time top n time data and the infrared rocker arm tracking of top n, wherein N is greater than default value；The exercise data of the infrared rocker arm tracking at current time is fitted according to top n current time, data time and exercise data.The method and terminal are by obtaining current time top n time data and exercise data, and the exercise data of the infrared rocker arm tracking at current time is fitted using these data, the exercise data of the infrared rocker arm tracking fitted effectively eliminates noise, the tracking effect of virtual background motion smoothing when realizing the video camera low-speed motion in Virtual Studio System.
Description
Technical field
The present invention relates to the filtering methods and end of data processing field more particularly to a kind of infrared rocker arm pursuit movement data
End.
Background technique
A kind of important means made as the Virtual Studio System of technology as real time TV, mesh are scratched based on blue case
Before be widely used in all kinds of television program designings, wherein when video camera carry out push-and-pull move movement when, prospect host and
Virtual background will guarantee that moving synchronously is one of basic index of Virtual Studio System.Video camera is wherein placed in rocker arm
On, it installs infrared sending device additional on rocker arm and is in the infrared rocker arm tracking that studio appropriate location installs infrared receiving device additional
Very outstanding a kind of tracking mode in Virtual Studio System tracking technique scheme, can make prospect master using the tracking mode
It holds people and virtual background moves synchronously.The tracking mode is suitable for the camera tripod of any rocker arm, guide rail or foot wheel, together
Shi Wuxu carries out machining transformation to above equipment, also without any requirement to the manufacturing process of above equipment itself, thus deep
It is popular with users.
The calculating process of infrared rocker arm tracking technique are as follows: infrared launcher emits the infrared light of specific shape, infrared to connect
Receiving apparatus (generally using visual overlay) acquisition infrared image, identifies the infrared image edge of specific shape, calculating is taken the photograph
Camera exercise data passes to the rendering that rendering engine carries out virtual background 3D scene image.Since infrared launcher is red
The imaging area of outer visual overlay is smaller, in addition infrared video image sensor has intrinsic various noises, therefore
There are various noises for the infrared image of acquisition, cause the edge of infrared image unstable, calculated exercise data contains can not
The noise ignored causes virtual background movement to be shaken.When video camera rocker arm does low-speed motion, noise, which often reaches, to be had
With the order of magnitude of signal, and low-speed motion is the normal method of floor shooting, it is therefore necessary to effectively be filtered to data
Wave can be only achieved satisfied tracking effect.
Summary of the invention
The present invention provides the filtering methods and terminal of a kind of infrared rocker arm pursuit movement data, and this method and terminal pass through
Infrared rocker arm pursuit movement data are filtered, the noise of data is effectively eliminated, realizes in Virtual Studio System
The tracking effect of virtual background motion smoothing when video camera low-speed motion.
A kind of filtering method of infrared rocker arm pursuit movement data, this method comprises:
Obtain top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data
{y1,y2,…,yN, wherein N is greater than default value；
According to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNFit currently
The exercise data of the infrared rocker arm tracking at moment.
A kind of terminal, the terminal include:
Module is obtained, for obtaining top n current time, data time { x1,x2,…,xNAnd the infrared rocker arm tracking of top n
Exercise data { y1,y2,…,yN, wherein N is greater than default value；
Fitting module, for according to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,
yNFit the exercise data that the infrared rocker arm at current time tracks.
The above method and terminal utilize these data by obtaining current time top n time data and exercise data
The exercise data of the infrared rocker arm tracking at current time is fitted, the exercise data of the infrared rocker arm tracking fitted effectively eliminates
Noise, the tracking effect of virtual background motion smoothing when realizing the video camera low-speed motion in Virtual Studio System.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic flow diagram of the filtering method of infrared rocker arm pursuit movement data of the embodiment of the present invention；
Fig. 2 is the specific method schematic flow diagram of step S12 in Fig. 1；
Fig. 3 is the specific method schematic flow diagram of step S21 in Fig. 2；
Fig. 4 is the specific method schematic flow diagram of step S23 in Fig. 2；
Fig. 5 is a kind of schematic block diagram of terminal of the embodiment of the present invention；
Fig. 6 is the schematic block diagram of the first computing module；
Fig. 7 is the schematic block diagram of the second computing module；
Fig. 8 is a kind of schematic block diagram of terminal of another embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
Fig. 1 is please referred to, is a kind of schematic flow diagram of the filtering method of infrared rocker arm pursuit movement data, this method packet
It includes:
Step S11 obtains top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking fortune
Dynamic data { y1,y2,…,yN, wherein N is greater than default value.N is the integer greater than zero, it is preferable that N >=10.The top n time
Data { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data { y1,y2,…,yNBe it is one-to-one, at one
Between data correspond to the one infrared rocker arm under the time data tracking exercise data.
Step S12, according to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNQuasi-
Close out the exercise data of the infrared rocker arm tracking at current time.
Above-described embodiment fits the infrared rocker arm at current time by top n current time, data time and exercise data
The exercise data of the exercise data of tracking, the infrared rocker arm tracking fitted can effectively eliminate noise, realize in virtual studio
In system when video camera low-speed motion virtual background motion smoothing tracking effect.
Fig. 2 is please referred to, is the specific method flow chart of step S12.Step S12 is specifically included:
Step S21, according to top n current time, data time { x1,x2,…,xNAnd top n exercise data { y1,y2,…,
yNStandard deviation sd calculate weight.Wherein, standard deviation sd is to move number by top n corresponding to top n time data
According to { y1,y2,…,yNBe calculated.
Step S22, according to weight to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,
y2,…,yNBe modified.
Step S23, according to revised top n time data { x1',x'2,…,x'NAnd exercise data { y1',y'2,…,
y'N, the exercise data of the infrared rocker arm tracking at current time is calculated using least square method.
When above-described embodiment further has been described in detail how to fit current using top n time data and exercise data
The exercise data y for carving the infrared rocker arm tracking of x, i.e., be first modified top n time data and exercise data, after amendment
Time data and exercise data, utilize least square method calculate current time infrared rocker arm tracking exercise data.
Fig. 3 is please referred to, is the specific method flow chart of step S21.Step S21 is specifically included:
Step S211, according to the first formula Value [i]=K1* sd*i calculates the first numerical value Value [i], wherein K1It is normal
Number.
Step S212, according to the second formulaSecond value acc is calculated, wherein K2For constant.
Step S213 calculates weight Weight [i]=K according to the first numerical value Value [i] and second value acc3*Value
[i]/acc, wherein K3For constant.
Wherein, K1、K2、K3For constant value, determined by empirical value.General K1=K2, work as K1=K2When, acc is weight
Mean value.Take K3=1, it realizes weight homogenization (the sum of weight is N).It is longer from the time at current time after weight homogenization
Exercise data, weight are smaller；The exercise data closer from the time at current time, weight are bigger.It is to be understood that before current time
N number of exercise data all contributes the exercise data of current time, and the exercise data contribution closer from current time is bigger.
Work as K2>K1When, the sum of weight of current time top n point is greater than N, that is, amplify the effect of current time top n point,
I.e. so that the exercise data y of the infrared rocker arm tracking of current time x also does corresponding amplification after fitting.Such case is suitable for
Rocker motion is the increasing accelerated motion of acceleration, then the exercise data at current time is bigger than top n exercise data
Very much, therefore by top n value amplified accordingly, the exercise data at suitable current time can be obtained.Work as K2<K1When, when
The sum of weight of preceding moment top n point is less than N, that is, the effect of current time top n point is reduced, so that current after over-fitting
The exercise data y of the infrared rocker arm tracking of moment x also does corresponding diminution.Such case is suitable for rocker motion and gets over for acceleration
Carry out smaller movement, the exercise data of top n point is reduced, suitable current exercise data can be obtained.
Above-described embodiment makes the exercise data longer from the time at current time, and weight is smaller, gets over from the time at current time
Close exercise data, weight is bigger, can further improve the accuracy of the exercise data after fitting by calculating weight.
According to weight to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNCarry out
Correct specifically used following formula, wherein { x1',x'2,…,x'N}、{y1',y'2,…,y'NIt is respectively revised time number
According to and exercise data:
{x1*Weight[1],x2*Weight[2],…,xN* Weight [N] }={ x1',x'2,…,x'N}；
{y1*Weight[1],y2*Weight[2],…,yN* Weight [N] }={ y1',y'2,…,y'N}。
Fig. 4 is please referred to, is the specific method flow chart of step S23.This method comprises the following steps:
Step S231, according to revised top n time data { x1',x'2,…,x'NAnd exercise data { y1',y
'2,…,y'N, it is calculated (a, b) using least square method, wherein the objective function of least square method are as follows:
Step S232 calculates the infrared of current time according to (a, b) and preset function y=ax+b being calculated
The exercise data of rocker arm, wherein x indicates time data, and y indicates the exercise data of infrared rocker arm.Preset function is to be fitted
Function, (a, b) are the coefficient of fitting function.The time data at current time are substituted into fitting function, when can calculate current
The exercise data for the infrared rocker arm carved.
The infrared rocker arm that current time how is calculated using least square method further has been described in detail in above-described embodiment
Exercise data.
Fig. 5 is please referred to, is a kind of schematic block diagram of terminal of the embodiment of the present invention.The terminal 50 includes obtaining module
51, fitting module 52.
Module 51 is obtained, for obtaining top n current time, data time { x1,x2,…,xNAnd the infrared rocker arm of top n with
Exercise data { the y of track1,y2,…,yN, wherein N is greater than default value.N is the integer greater than zero, it is preferable that N >=10.Preceding N
A time data { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data { y1,y2,…,yNBe it is one-to-one,
One time data corresponds to the exercise data of the tracking of the one infrared rocker arm under the time data.
Fitting module 52, for according to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,
y2,…,yNFit the exercise data that the infrared rocker arm at current time tracks.
Specifically, fitting module 52 includes the first computing module 521, correction module 522, the second computing module 523.
First computing module 521, for according to top n current time, data time { x1,x2,…,xNAnd top n movement
Data { y1,y2,…,yNStandard deviation sd calculate weight.Wherein, standard deviation sd is by corresponding to top n time data
Top n exercise data { y1,y2,…,yNBe calculated.
Specifically, as shown in fig. 6, the first computing module 521 includes the first computing unit 5211, the second computing unit
5212, third computing unit 5213.First computing unit 5211, for according to the first formula Value [i]=K1* sd*i is calculated
First numerical value Value [i], wherein K1For constant.Second computing unit 5212, for according to the second formulaSecond value acc is calculated, wherein K2For constant.Third computing unit 5213, for according to the
One numerical value Value [i] and second value acc calculates weight Weight [i]=K3* Value [i]/acc, wherein K3For constant.
Wherein, K1、K2、K3For constant value, determined by empirical value.General K1=K2, work as K1=K2When, acc is weight
Mean value.Take K3=1, it realizes weight homogenization (the sum of weight is N).It is longer from the time at current time after weight homogenization
Exercise data, weight are smaller；The exercise data closer from the time at current time, weight are bigger.It is to be understood that before current time
N number of exercise data all contributes the exercise data of current time, and the exercise data contribution closer from current time is bigger.
Work as K2>K1When, the sum of weight of current time top n point is greater than N, that is, amplify the effect of current time top n point,
I.e. so that the exercise data y of the infrared rocker arm tracking of current time x also does corresponding amplification after fitting.Such case is suitable for
Rocker motion is the increasing accelerated motion of acceleration, then the exercise data at current time is bigger than top n exercise data
Very much, therefore by top n value amplified accordingly, the exercise data at suitable current time can be obtained.Work as K2<K1When, when
The sum of weight of preceding moment top n point is less than N, that is, the effect of current time top n point is reduced, so that current after over-fitting
The exercise data y of the infrared rocker arm tracking of moment x also does corresponding diminution.Such case is suitable for rocker motion and gets over for acceleration
Carry out smaller movement, the exercise data of top n point is reduced, suitable current exercise data can be obtained.
Correction module 522 is used for according to weight to top n current time, data time { x1,x2,…,xNAnd exercise data
{y1,y2,…,yNBe modified.According to weight to top n current time, data time { x1,x2,…,xNAnd exercise data
{y1,y2,…,yNIt is modified specifically used following formula, wherein { x1',x'2,…,x'N}、{y1',y'2,…,y'NRespectively
For revised time data and exercise data:
{x1*Weight[1],x2*Weight[2],…,xN* Weight [N] }={ x1',x'2,…,x'N}；
{y1*Weight[1],y2*Weight[2],…,yN* Weight [N] }={ y1',y'2,…,y'N}。
Second computing module 523, for according to revised top n time data { x1',x'2,…,x'NAnd movement number
According to { y1',y'2,…,y'N, the exercise data of the infrared rocker arm tracking at current time is calculated using least square method.
Specifically, as shown in fig. 7, the second computing module 523 includes the 4th computing unit 5231, the 5th computing unit
5232.4th computing unit 5231, for according to revised top n time data { x1',x'2,…,x'NAnd exercise data
{y1',y'2,…,y'N, it is calculated (a, b) using least square method, wherein the objective function of least square method are as follows:5th computing unit 5232, for according to (a, b) and preset function y=ax+ being calculated
B calculates the exercise data of the infrared rocker arm at current time, wherein x indicates time data, and y indicates the movement number of infrared rocker arm
According to.Preset function is fitting function, and (a, b) is the coefficient of fitting function.The time data at current time are substituted into fitting
In function, the exercise data of the infrared rocker arm at current time can be calculated.
Above-mentioned terminal by top n current time, data time and exercise data fit the infrared rocker arm at current time with
The exercise data of the exercise data of track, the infrared rocker arm tracking fitted can effectively eliminate noise, realize in virtual studio system
In system when video camera low-speed motion virtual background motion smoothing tracking effect.
Fig. 8 is please referred to, is a kind of schematic block diagram of terminal of another embodiment of the present invention.The terminal 80 includes memory
81, processor 82, memory 81 are connect with processor 82 by bus 83, in which:
Memory 81, for storing the program data for having various functions.Memory 81 stores in the embodiment of the present invention
Data include top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yN, K1、K2、K3, and
Other program datas that can be called and run.In the specific implementation, the memory 81 of the embodiment of the present invention can be system storage,
For example, volatile (such as RAM), the combination of non-volatile (such as ROM, flash memory etc.), or both.In the specific implementation,
The memory 81 of the embodiment of the present invention can also be the external memory except system, for example, disk, CD, tape etc..
Processor 82 for calling the program data stored in memory 81, and performs the following operations:
Obtain top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data
{y1,y2,…,yN, wherein N is greater than default value；
According to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNFit currently
The exercise data of the infrared rocker arm tracking at moment.
In other feasible embodiments, processor 82 is also performed the following operations:
Obtain top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data
{y1,y2,…,yN, wherein N is greater than default value；
According to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNStandard deviation
Sd calculates weight；
According to weight to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNCarry out
Amendment；
According to revised top n time data { x1',x'2,…,x'NAnd exercise data { y1',y'2,…,y'N, benefit
The exercise data of the infrared rocker arm tracking at current time is calculated with least square method.
In other feasible embodiments, processor 82 is also performed the following operations:
According to the first formula Value [i]=K1* sd*i calculates the first numerical value Value [i], wherein K1For constant；
According to the second formulaSecond value acc is calculated, wherein K2For constant；
Weight Weight [i]=K is calculated according to the first numerical value Value [i] and second value acc3* Value [i]/acc,
Wherein K3For constant.
In other feasible embodiments, processor 82 is also performed the following operations:
According to weight to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNAccording to
Following formula is modified.Wherein, { x1',x'2,…,x'N}、{y1',y'2,…,y'NBe respectively revised time data and
Exercise data:
{x1*Weight[1],x2*Weight[2],…,xN* Weight [N] }={ x1',x'2,…,x'N}；
{y1*Weight[1],y2*Weight[2],…,yN* Weight [N] }={ y1',y'2,…,y'N}。
In other feasible embodiments, processor 82 is also performed the following operations:
According to revised top n time data { x1',x'2,…,x'NAnd exercise data { y1',y'2,…,y'N, benefit
It is calculated (a, b) with least square method, wherein the objective function of least square method are as follows:
According to (a, b) and preset function y=ax+b being calculated, the exercise data at current time is calculated, wherein
X indicates time data, and y indicates the exercise data of infrared rocker arm.
The module and/or unit of the embodiment of the present invention, can with universal integrated circuit (such as central processor CPU), or with
Specific integrated circuit (ASIC) Lai Shixian.
In several embodiments provided herein, it should be understood that disclosed terminal and method can pass through it
Its mode is realized.For example, terminal embodiment described above is only schematical, for example, the module and/or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.The embodiment of the present invention
The step of method, sequentially can be adjusted according to actual needs, merges or delete.
The module as illustrated by the separation member and/or unit may or may not be physically separated,
The component shown as module and/or unit may or may not be physical unit.It can select according to the actual needs
Some or all of unit therein is selected to realize the purpose of the embodiment of the present invention.
In addition, each functional module and/or unit in each embodiment of the present invention can integrate in a processing module
And/or in unit, it is also possible to modules and/or unit physically exists alone, be also possible to two or more modules
And/or unit is integrated in one unit.Above-mentioned integrated module and/or unit both can take the form of hardware realization,
It can realize in the form of software functional units.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (6)
1. a kind of filtering method of infrared rocker arm pursuit movement data, it is characterised in that:
Obtain top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking exercise data { y1,
y2,…,yN, wherein N is greater than default value；
According to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNFit current time
Infrared rocker arm tracking exercise data；
Wherein, described according to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yNFitting
The exercise data of the infrared rocker arm tracking at current time out, comprising:
According to top n current time, data time { x1,x2,…,xNAnd top n exercise data { y1,y2,…,yNStandard deviation
Poor sd calculates weight；According to weight to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,
yNBe modified；According to revised top n time data { x'1,x'2,…,x'NAnd exercise data { y'1,y'2,…,y
'N, the exercise data of the infrared rocker arm tracking at current time is calculated using least square method；
Wherein, described according to top n current time, data time { x1,x2,…,xNAnd top n exercise data { y1,y2,…,yN}
Standard deviation sd calculate weight, comprising:
According to the first formula Value [i]=K1* sd*i calculates the first numerical value Value [i], wherein K1For constant；According to the second public affairs
FormulaSecond value acc is calculated, wherein K2For constant；According to the first numerical value Value [i] and second
Numerical value acc calculates weight Weight [i]=K3* Value [i]/acc, wherein K3For constant.
2. the method as described in claim 1, which is characterized in that according to weight to top n current time, data time { x1,
x2,…,xNAnd exercise data { y1,y2,…,yNBe modified and include:
{x1*Weight[1],x2*Weight[2],…,xN* Weight [N] }={ x'1,x'2,…,x'N}；
{y1*Weight[1],y2*Weight[2],…,yN* Weight [N] }={ y'1,y'2,…,y'N, wherein { x'1,x
'2,…,x'N}、{y'1,y'2,…,y'NIt is respectively revised preceding N time data and exercise data.
3. the method as described in claim 1, which is characterized in that according to revised top n time data { x'1,x'2,…,
x'NAnd exercise data { y'1,y'2,…,y'N, the movement of the infrared rocker arm tracking at current time is calculated using least square method
Data include:
According to revised top n time data { x'1,x'2,…,x'NAnd exercise data { y'1,y'2,…,y'N, using most
Small square law calculates (a, b), wherein the objective function of least square method are as follows:
According to (a, b) and preset function y=ax+b being calculated, the exercise data at current time is calculated, wherein x table
Show time data, y indicates the exercise data of infrared rocker arm.
4. a kind of terminal, which is characterized in that the terminal includes:
Module is obtained, for obtaining top n current time, data time { x1,x2,…,xNAnd top n infrared rocker arm tracking fortune
Dynamic data { y1,y2,…,yN, wherein N is greater than default value；
Fitting module, for according to top n current time, data time { x1,x2,…,xNAnd exercise data { y1,y2,…,yN}
Fit the exercise data of the infrared rocker arm tracking at current time；
Wherein, the fitting module specifically includes:
First computing module, for according to top n current time, data time { x1,x2,…,xNAnd top n exercise data { y1,
y2,…,yNStandard deviation sd calculate weight；Correction module is used for according to weight to top n current time, data time { x1,
x2,…,xNAnd exercise data { y1,y2,…,yNBe modified；Second computing module, for according to the revised top n time
Data { x'1,x'2,…,x'NAnd exercise data { y'1,y'2,…,y'N, the infrared of current time is calculated using least square method
The exercise data of rocker arm tracking；
Wherein, first computing module specifically includes:
First computing unit, for according to the first formula Value [i]=K1* sd*i calculates the first numerical value Value [i], wherein K1
For constant；Second computing unit, for according to the second formulaSecond value acc is calculated, wherein K2
For constant；Third computing unit, for according to the first numerical value Value [i] and second value acc calculating weight Weight [i]=
K3* Value [i]/acc, wherein K3For constant.
5. terminal as claimed in claim 4, which is characterized in that the correction module is used for according to weight to N before current time
A time data { x1,x2,…,xNAnd exercise data { y1,y2,…,yNBe modified, specifically used following formula is repaired
Just:
{x1*Weight[1],x2*Weight[2],…,xN* Weight [N] }={ x'1,x'2,…,x'N}；
{y1*Weight[1],y2*Weight[2],…,yN* Weight [N] }={ y'1,y'2,…,y'N, wherein { x'1,x
'2,…,x'N}、{y1',y'2,…,y'NIt is respectively revised preceding N time data and exercise data.
6. terminal as claimed in claim 4, which is characterized in that the second computing module includes:
4th computing unit, for according to revised top n time data { x'1,x'2,…,x'NAnd exercise data { y'1,
y'2,…,y'N, it is calculated (a, b) using least square method, wherein the objective function of least square method are as follows:
5th computing unit, for calculating current time according to (a, b) and preset function y=ax+b being calculated
The exercise data of infrared rocker arm, wherein x indicates time data, and y indicates the exercise data of infrared rocker arm.
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