Method and related equipment for acquiring movement attitude data and tracking human movement attitude

A technology of human motion and motion attitude, applied in the field of micro-mechanics, can solve the problems of inability to track moving objects accurately, the heading angle data does not match the actual value, etc. Effects of corner data

Inactive Publication Date: 2011-11-23
青岛海蓝康复器械有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since the gravity direction of the acceleration measurement is orthogonal to the heading angle, the accelerometer cannot be used to eliminate the cumulative error of the gyroscope in the horiz

Method used

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  • Method and related equipment for acquiring movement attitude data and tracking human movement attitude
  • Method and related equipment for acquiring movement attitude data and tracking human movement attitude
  • Method and related equipment for acquiring movement attitude data and tracking human movement attitude

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Experimental program
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Embodiment 1

[0070] Realization of moving object tracking needs to know the parameter description of the posture of the moving object (that is, the position of the moving object in the reference space). The posture of the moving object is usually through the motion reference coordinate system OX fixed to the moving object C Y C Z C Represents the angle between OXYZ and the fixed reference coordinate system. The origin of the two coordinate systems is taken at the center of mass of the moving object. The X axis of the fixed reference coordinate system points to east horizontally, the Y axis points to north horizontally, and the Z axis points to the zenith perpendicular to the ground; the X of the motion reference coordinate system fixed to the moving object C The direction of the vertical moving object points to the right, Y C The axis points forward along the direction of motion of the moving object, Z C Point upward along the longitudinal axis of the moving object. The relationship between ...

Embodiment 2

[0082] The data fusion process of recursive autoregressive filtering is mentioned in step 104 of the foregoing embodiment. In fact, there are many specific implementations of recursive autoregressive filtering between the posture data of the moving object and the magnetic field intensity data. The present invention preferably adopts Kalman filtering. The algorithm implements this process. See attached image 3 , The data fusion process of Kalman filtering method is:

[0083] The attitude parameter of the moving object M at k-1 time is represented by a quaternion, which uses a super-complex number to equivalently rotate the reaction vector. Any vector can be expressed as a quaternion composed of a real part and a complex number, such as: (Where w is a constant), the parameters in this formula satisfy the following relationship:

[0084] q=[w x y z] 2

[0085] |q| 2 =w 2 +x 2 +y 2 +z 2 = 1

[0086] The basic data of the quaternion structure of the posture of the moving object comes f...

Embodiment 3

[0095] In the above embodiment, the description of the posture parameter of the moving object in the state variable uses a quaternion notation. In fact, Euler angles can be used directly for the attitude parameters of a moving object, or even other representation methods. Different representation methods are only different in form, and these representation methods can be mutually converted through mathematical rules. The conversion formula between quaternion and Euler angle is given below.

[0096] Conversion formula from quaternion to Euler angle:

[0097]

[0098] The result of arctan and arcsin in the above formula is For other angles, use atan2 instead of arctan. That is, use the following formula to achieve the conversion:

[0099]

[0100] Euler angle to quaternion conversion formula:

[0101]

[0102] Therefore, the present invention does not limit the specific mathematical form of the description of the posture of the moving object, as long as it does not prevent the presen...

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Abstract

The invention provides a method for acquiring movement attitude data. The method comprises the following steps of: recording the geomagnetic field intensity of a moving object at a first measurement course angle as first magnetic field intensity; when the moving object moves to a second measurement course angle, rotating the direction of the geomagnetic field intensity of the position where the moving object is at an angle of difference of the second measurement course angle and the first measurement course angle, and recording the geomagnetic field intensity of the position as a second magnetic field vector; calculating the first magnetic field intensity and the second magnetic field intensity according to a preset rule to obtain magnetic field intensity observation quantity; and performing recursion autoregression filter on the magnetic field intensity observation quantity and measurement attitude data of the moving object to obtain the attitude data of the moving object. The invention also provides a device for acquiring movement attitude data and a method and a system for tracking the human movement attitude. The geomagnetic field intensity is introduced into the method, so that the problem of error accumulation produced during measurement of angular velocity is solved.

Description

Technical field [0001] The invention relates to the field of micromachines (MEMS), and in particular to a method for acquiring motion posture data, tracking human body motion posture, and related equipment. Background technique [0002] The posture tracking technology of moving objects has been widely used in various fields, especially in aerospace and navigation, antenna radar, and human body motion posture modeling. In recent years, with the rapid development of MEMS, motion posture tracking technology has gradually merged into the concept of MEMS. The measurement components required for motion posture tracking have been miniaturized and integrated to form a collection of micro mechanisms, micro sensors, micro actuators, and signal processing and The control circuit is equivalent to an integrated miniature motion posture tracking device. These devices have the characteristics of low cost, small size and light weight, so they are widely favored by people. [0003] The posture tr...

Claims

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Application Information

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IPC IPC(8): G01C21/08G01C21/16
Inventor 赵铁军周尤
Owner 青岛海蓝康复器械有限公司
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