Hand movement tracking system and tracking method

Abstract

The invention discloses a hand movement tracking system and a hand movement tracking method. The invention comprises an attitude and heading reference system based on an accelerometer, a gyroscope and a magnetic sensor, and a hand movement tracking method based on the attitude and heading reference system. The hand movement tracking method comprises the following steps: firstly, obtaining a triaxial acceleration measured by the accelerometer, a triaxial angular velocity measured by the gyroscope and a triaxial magnetic-field component measured by the magnetic sensor, performing error compensation on the magnetic sensor by adopting a least square method to establish an error model after an upper computer receives sensor data, eliminating high-frequency noise of the triaxial acceleration by virtue of a window low-pass filter, and establishing an error model for the gyroscope so as to perform error compensation on random drift of the gyroscope; secondly, effectively integrating the gyroscope, the accelerometer and the magnetic sensor by virtue of an improved adaptive complementary filtering algorithm to obtain an attitude angle and a path angle; and finally, performing gravity compensation and discrete digital integration on acceleration signals to obtain a velocity and a track of a hand movement. The tracking system and the tracking method disclosed by the invention can be applied to a man-machine interactive system, is convenient to operate, and is strong in experience feeling.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a hand motion tracking method based on a heading reference system. [0002] technical background [0003] Motion tracking is to detect and record the movement and trajectory of moving objects, and convert them into digital "abstract motion". Through motion tracking technology, users can use posture, gesture and other modes to send instructions to the computer, so it is one of the key technologies in the new generation of human-computer interaction. With the development of MEMS technology, MEMS sensors are gradually being used in navigation and motion capture due to their small size, low power consumption, and excellent performance. [0004] The inertial motion tracking system based on gyroscopes, accelerometers, and magnetic sensors not only has the advantages of price and size, but also can provide more detailed motion parameter data. The MEMS gyroscope uses the Cor...

AI Technical Summary

Problems solved by technology

However, the traditional complementary filter algorithm has a certain delay in the attitude angle response under high-speed motion, and its dynamic performance is not as good as that of the Kalman filter.

Images