Human body attitude calculation method based on quaternion and Kalman filtering

Abstract

The invention discloses a human body attitude calculation method based on quaternion and Kalman filtering. The method comprises determining a vector coordinate system and a navigation coordinate system, determining an attitude matrix, respectively acquiring accelerated speed, angular velocity and magnetic induction intensity signals through an accelerometer, a gyroscope and a magnetometer, carrying out initial alignment on a human body attitude detection system, calculating initial attitude angles such as a pitching angle, a rolling angle and a heading angle, transforming the initial attitude angles into initial quaternion, carrying out system modeling according to a quaternion differential equation, inputting the initial quaternion as a measured value, carrying out data fusion on the attitude data through a Kalman filtering algorithm, outputting an estimated value which is updated quaternion, carrying out normalization processing on the updated quaternion to obtain final posture information, updating the attitude matrix and acquiring updated attitude angles. The human body attitude estimation method effectively improves the accuracy of human posture detection, has a fast response speed, has good stability and instantaneity and has a broad application prospect.

Description

technical field [0001] The invention belongs to the technical field of posture detection, in particular to a human body posture resolution method based on quaternions and Kalman filtering. Background technique [0002] The methods for calculating human body posture mainly include cosine matrix method, Euler angle method and quaternion method. There is a singularity problem in attitude calculation, and the quaternion method is not only simple to calculate the relative cosine matrix method, but also avoids the singularity problem existing in the Euler angle method. [0003] Most of the traditional attitude calculations are based on two kinds of inertial sensors, the accelerometer and the gyroscope. The gyroscope obtains the attitude angle through integration, which can provide accurate attitude information in a short time, but the long-term accuracy is poor. The measurement error of the accelerometer does not accumulate over time, and the long-term performance is good, but th...

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Problems solved by technology

[0002] The methods for calculating human body posture mainly include cosine matrix method, Euler angle method and quaternion method. There is a singularity problem in attitude calculation, and the quaternion method is not only simple to calculate the relative cosine matrix method, but also avoids the singularity problem existing in the Euler angle method

[0003] Most of the traditional attitude calculations are based on two inertial sensors, the accelerometer and the gyroscope. The gyroscope obtains the attitude angle through integration, which can provide accurate attitude information in a short time, but the long-term accuracy is poor.

The measurement error of the accelerometer does not accumulate over time, and the long-term performance is better, but the short-term accuracy is poor and the dynamic response is slow

Many existing calculation methods lack the ability to filter noise-containing data, and some algorithms use complementary filtering algorithms, but the complementary filtering algorithm is too simple and the correction of parameters is cumbersome, so good filtering effects cannot be achieved

At the same time, there is no effective fusion of data, which leads to low accuracy of attitude calculation results, insufficient stability and reliability

In addition, the lack of inertial sensor selection also affects the accuracy of attitude calculation

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