Attitude angle detecting method based on low-speed movement of data glove

Abstract

The invention discloses an attitude angle detecting method based on low-speed movement of a data glove. Attitude angles include a pitch angle, a slope angle and a yaw angle of the data glove. The attitude angle detecting method comprises the steps of: S1. acquiring angular rate information of the data glove by adopting a three-axis gyroscope and simultaneously measuring by adopting a three-axis acceleration sensor and a three-axis magnetoresistive sensor; S2. calculating the pitch angle, the slope angle and the yaw angle of the data glove according to the angular rate information acquired by the three-axis gyroscope; and S3. correcting the pitch angle and the slope angle according to a measured value of the three-axis acceleration sensor and simultaneously correcting the yaw angle according to a measured value of the three-axis magnetoresistive sensor. The method is capable of correctly detecting the attitude angle of the data glove under the condition of the low-speed movement or approximately-uniform speed movement of the data glove, and the method is high in stability and detection accuracy and can be widely applied in the field of attitude identification.

Description

technical field [0001] The invention relates to the field of attitude perception of an inertial device, in particular to an attitude angle detection method based on low-speed movement of a data glove. Background technique [0002] The data glove is a device used to obtain the movement posture of the human hand in real time. After processing the data collected by the data glove, it can truly restore the human hand movement process. After analyzing the physiological structure and movement mechanism of the human hand, the data glove establishes a mathematical model of hand movement, and measures the changes in the extension of the palm or finger by installing sensing devices at key parts of the hand movement. The current data glove mainly collects data through a three-axis digital acceleration sensor and performs related processing to obtain the movement posture of the human hand. However, the measurement of the three-axis acceleration sensor has its own defects. When a certai...

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Problems solved by technology

However, the measurement of the three-axis acceleration sensor has its own defects. When a certain axis coincides with the direction of gravity, if the sensor rotates around the axis at a lower speed, the angle between the three axes of the sensor and the direction of gravity remains unchanged. In this case, it is difficult to determine the attitude change of the sensor, and as long as there is a slight shake, the motion collected by the data glove will be distorted. The current detection method cannot accurately detect the attitude angle of the data glove when it moves at a low speed.

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