Conjugate gradient attitude solving method for abnormal gait recognition

A technology of abnormal gait recognition and conjugate gradient method, which is applied in the field of attitude calculation, can solve problems such as difficulty in converging to the optimal value and reduced precision, and achieve the goals of improving precision and algorithm adaptability, improving precision, and reducing error interference Effect

Inactive Publication Date: 2019-10-11
东北大学秦皇岛分校
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Problems solved by technology

[0007] The purpose of the present invention is to provide a conjugate gradient attitude calculation method for abnormal gait recognition, which can effectively solve the problems in the prior art, especially because the gyroscope is affected by drift and low-frequency noise. The accuracy of the solution will decrease over time; after the magnetometer and accelerometer are disturbed by high-frequency noise and linear acceleration, it is difficult to converge to the optimal value by using the conjugate gradient algorithm to solve the problem

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  • Conjugate gradient attitude solving method for abnormal gait recognition
  • Conjugate gradient attitude solving method for abnormal gait recognition
  • Conjugate gradient attitude solving method for abnormal gait recognition

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Embodiment Construction

[0044] Embodiments of the present invention: a conjugate gradient attitude calculation method for abnormal gait recognition, such as figure 1 As shown, it includes the following steps: use the conjugate gradient method to process the data of the accelerometer and the magnetometer to obtain the calculated attitude angle, and then fuse the calculated attitude angle with the attitude angle obtained by integrating the gyroscope data to obtain the final attitude angle.

[0045] In order to improve the accuracy and efficiency of attitude calculation, the following steps are specifically included:

[0046] S1, the data measured by the accelerometer and the magnetometer are represented by the attitude quaternion, and the attitude quaternion is optimized by the conjugate gradient method, and a set of characteristics based on the accelerometer and the magnetometer is obtained. Attitude quaternion, that is, the conjugate gradient method to solve the attitude quaternion;

[0047] S2, us...

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Abstract

The present invention discloses a conjugate gradient attitude solving method for abnormal gait recognition. The method comprises the following steps: processing data of an accelerometer and a magnetometer by using a conjugate gradient method to obtain a solution attitude angle, and then fusing the solution attitude angle with an attitude angle of a gyroscope obtained by numerical integration to obtain a final attitude angle. According to the method provided by the present invention, by using the complementary characteristics of the gyroscope, and the magnetometer and accelerometer in the frequency domain, through a complementary filter, the solution attitude angle of the magnetometer and accelerometer is fused with the attitude angle of a gyroscope obtained by numerical integration to obtain a final attitude angle, so that the precision of the attitude measurement can be improved, the error of the gyroscope attitude is reduced, and the dynamic performance of the accelerometer is improved.

Description

technical field [0001] The invention relates to a conjugate gradient attitude calculation method for abnormal gait recognition, and belongs to the technical field of attitude calculation. Background technique [0002] Human movement is an extremely complex process. Studying human movement is of great significance in many fields. Through data analysis, the health status of human gait can be analyzed, and it can be used in the diagnosis and rehabilitation process evaluation of lower limb movement disorders caused by sports system diseases and nervous system diseases. It also plays an important role in disability assessment. Walking movement contains a lot of human kinematics information. This seemingly simple movement process contains complex kinematics, dynamics and biomechanics, and requires a high degree of coordination of the muscular system, skeletal system and nervous system. Gait is a very periodic and rhythmic movement process, which can provide a lot of information i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 高静谷沛尚蒋久红何国伟田顺新张德馨张翔
Owner 东北大学秦皇岛分校
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