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An arm inertial motion capture data fusion method

A technology of motion capture and data fusion, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve the problems of large amount of calculation, complex operation, low amount of calculation, etc., and achieve the reduction of algorithm complexity and calculation amount Effect

Active Publication Date: 2017-09-15
FUZHOU UNIV
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Problems solved by technology

[0003] In view of this, in order to overcome the shortcomings of the existing arm inertial motion capture data fusion method with complex calculations and a large amount of calculation, the purpose of the present invention is to provide an arm inertial motion capture data fusion method, which can not only realize the basic functions of arm motion capture function, to ensure a certain accuracy, and the calculation is simple and the amount of calculation is low, and it can be transplanted on various low-cost somatosensory control platforms

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  • An arm inertial motion capture data fusion method
  • An arm inertial motion capture data fusion method
  • An arm inertial motion capture data fusion method

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Embodiment Construction

[0013] As shown in Table 1, the present invention has established a kind of arm quaternion model for motion capture, and this model is based on D-H model, regards the physical model of human arm as being made up of three rigid bodies of upper arm, forearm and palm , the establishment method of the relative coordinate system of each rigid body relative to the reference system is the same as that of the D-H model; the difference is that the quaternion model uses spherical coordinates to establish the coordinate system, and the quaternion is used to represent the attitude of each rigid body.

[0014]

[0015] Table 1 is the relationship between the arm quaternion model and the D-H model of the present invention

[0016] Such as figure 1 As shown, the coordinate system is established using spherical coordinates, where a 1 and a 2 are the upper arm and forearm lengths, respectively.

[0017] As shown in Table 2, the angle between the arm joints is expressed in the form of Eul...

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Abstract

The invention relates to an inertial arm action capture data fusion method. The method is characterized in that on the basis of a D-H model, a quaternion is used for representing human arm postures, and a human arm quaternion model is established for data fusion, so that computation burden is reduced; by the aid of a divided-state fusion algorithm, arm movement states are divided into a dynamic state and a static state according to angular speed data, and the angular speed data are used for fusion in the dynamic state while accelerated speed and magnetic flux data, which are low in fusion speed, are used for data fusion in the static state, so that the fusion computation burden is further reduced, and an inertial action capture system can be operated on an embedded platform.

Description

technical field [0001] The invention relates to the field of somatosensory control inertial motion capture, in particular to an arm inertial motion capture data fusion method, which is especially suitable for embedded hardware platforms. Background technique [0002] At present, the common arm inertial motion capture data fusion method is based on the personal computer hardware platform, which can realize the basic functions of motion capture with certain precision. However, these arm inertial motion capture data fusion methods have complex calculations and a large amount of calculations, and can only be implemented on personal computers and higher-cost hardware platforms, and cannot be transplanted to various low-cost somatosensory control platforms. Contents of the invention [0003] In view of this, in order to overcome the shortcomings of the existing arm inertial motion capture data fusion method with complex calculations and a large amount of calculation, the purpose...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 程树英周海芳查帅荣章杰陈志聪林培杰
Owner FUZHOU UNIV
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