Abstract: Although gait-driven navigation modules of virtual reality platform have been developed to provide better direction and speed perceptions to the subjects in pedestrian-behavior-oriented experiments, how to calibrate the sampled speed to the ground speed is still a common research question. A passive module is developed and introduced here to demonstrate an experiments-based method for the calibration. 93 subjects are invited to walk in various speeds inside the module and on the ground with their heart rates recorded. According to the assumption that walking effort and heart rate change correspondingly, the two kinds of speeds are bridged through the rates （various transferring ratios from 0.0186 to 0.0211 are found）. The proposed method can be used in the calibration of any gait-driven navigation module.

Key words: virtual reality, heart rate, omni directional, locomotion platform, sampled speed, ground speed

摘要： 基于步行姿态的虚拟环境漫游控制模块研究，虽增强了操作者对自身步行方向与速度的直接感知，但都因为模块内受限的姿态，面临着如何将其中侦测到的采集速度，校准为虚拟环境中应有的平地速度的难题。该研究基于自主研发的此类被动式模块提出“等心率步行速度换算方法”。通过对四组共93名志愿者分别在模块内与平地上进行不同速度步行时的心率进行记录，分绘出心率与两种速度的关系方程，再按照同心率同体感的假设，建立起各组的采集速度与平地速度换算方程（换算比0.018 6至0.021 1）。即该方法可针对某类目标人群科学地解决上述校准问题。

关键词: 虚拟现实, 心率, 万向, 步行平台, 采集速度, 平地速度