A hand movement tracking system and tracking method

A tracking system and hand movement technology, applied in the field of inertial navigation, can solve problems such as poor dynamic performance

Active Publication Date: 2020-01-10
ZHEJIANG UNIV
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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.

Method used

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  • A hand movement tracking system and tracking method
  • A hand movement tracking system and tracking method
  • A hand movement tracking system and tracking method

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Embodiment Construction

[0109] The present invention will be further explained below in conjunction with the drawings.

[0110] Such as figure 1 As shown, the technical implementation of the motion tracking method in the present invention specifically includes the following steps:

[0111] (1) The accelerometer measures the triaxial acceleration of the hand, the gyroscope measures the triaxial angular velocity of the hand, and the magnetic sensor measures the triaxial magnetic field component of the hand;

[0112] (2) MCU receives the three-axis acceleration measured by the accelerometer, the three-axis angular velocity measured by the gyroscope and the three-axis magnetic field component measured by the magnetic sensor through the IIC bus, and sends it to the host computer;

[0113] (3) The host computer first establishes an error model for the three-axis magnetic field components through the least square method to eliminate the magnetic field interference in the environment; secondly, the three-axis accele...

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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 movement tracking method based on a heading and attitude reference system. Background technique [0002] Motion tracking is to detect and record the movement of a moving target and its trajectory, and transform it into a digital "abstract movement". Through motion tracking technology, users can use postures, gestures and other modalities 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 fields such as navigation and motion capture due to their small size, low power consumption, and excellent performance. [0003] The inertial motion tracking system based on gyroscope, accelerometer and magnetic sensor not only has the advantages of price and size, but also can provide more detailed motion parameter data. MEMS...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/18G01C21/08
CPCG01C21/005G01C21/08G01C21/18
Inventor 金文光张赛赛
Owner ZHEJIANG UNIV
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