六自由度VR娱乐平台变频率洗出算法研究

Research on Variable Frequency Washout Algorithm for 6-DOF VR Entertainment Platform

为提高VR娱乐平台模拟运动场景的逼真度，对经典洗出算法加以改进并提出一种变频率洗出算法（VFWA）。根据平台运动实时性要求，结合切换控制思想，并根据设定输入值与算法输出值的误差实时反馈调节算法滤波器的参数。利用MATLAB软件对VR娱乐平台纵向模式，偏航模式与垂直模式运动进行仿真，结果表明，运用本文所提出的变频率洗出算法（VFWA），既能将模拟逼真度从经典洗出算法的50％-60％提高至90％。又能防止VR娱乐平台运动超限，对正弦信号与方波信号输入具有较好的适用性。

In order to improve the fidelity of simulated scene of the VR entertainment platform, a variable frequency washout algorithm （VFWA） was presented by improving classic washout algorithm. According to the real- time requirement of platform motion and the idea of switching control, the parameters of the algorithm filter are adjusted in real time according to the error between the input and the output of the algorithm. By utilizing MATLAB software, the movement simulation based on longitudinal mode, yaw mode and vertical mode was studied. The results show that the simulation fidelity is increased from 50% -60% to 90% by using the variable frequency washout algorithm （VFWA）, which is effective to prevent the excessive movement of VR entertainment platform and applicable to the sine signal and square wave signal input.