The invention relates to the technical field of
motion capture and space positioning, in particular to an acoustic
motion capture method and
system based on a receiving end synchronization mechanism. The core innovation of the method lies in that a
system structure with a receiving end as a unified time reference is constructed, and asynchronous errors of a traditional transmitting end synchronization architecture are thoroughly eliminated. In order to solve the problems that signals of multiple transmitting nodes are difficult to judge at the same moment, multi-source signals are
aliasing and the like, a receiving end synchronous unified time calibration mechanism is adopted, and a mixed
signal scheduling scheme combining packet
time division multiplexing and intra-
group code division
multiplexing is adopted. The
system comprises a coordinator, an ultrasonic transmitting terminal, an acoustic receiving array and the like, the coordinator provides a global
clock through an IEEE 1588v2 protocol and a PPS
signal, the transmitting terminal transmits an ultrasonic
signal with a unique pseudo-
random noise code, the receiving array separates the signal through parallel matched filtering and records an accurate
timestamp, and the acoustic receiving array receives the signal through the IEEE 1588v2 protocol and the PPS signal. And finally, high-precision positioning and attitude restoration are realized through a
time difference of arrival
algorithm, environmental parameter correction and an
inverse kinematics model.