Motion Parameter Confirmation Using Inertial Sensors
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Solution Overview
Problem
Existing motion recognition technologies are significantly affected by environmental factors, particularly light, when utilizing visualization methods for detecting three-dimensional motions.
Innovation Solution
A method and apparatus that utilize tri-axial accelerometers, gyroscopes, and magnetometers to obtain and process motion data in a three-dimensional geomagnetic coordinate system, adjusting for gravity and stance changes to confirm motion parameters independently of environmental conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visualization methods (RGB cameras, depth sensors) are used to detect three-dimensional motions, then full-body motion information can be obtained, but accuracy is greatly affected by environmental factors particularly light
Solution Approach 1:
The patent replaces optical visualization methods (cameras, depth sensors) with inertial measurement units (accelerometers, gyroscopes, magnetometers) to detect motion. This substitution eliminates dependence on light and visual environmental conditions, as inertial sensors measure motion through physical forces and magnetic fields rather than optical reflection.
Solution Approach 2:
The patent changes the measurement parameters from optical properties (light reflection, color, depth) to inertial properties (acceleration, angular velocity, magnetic field orientation). By measuring different physical parameters that are independent of lighting conditions, the system achieves accurate motion recognition in various environmental conditions.
2Object-affected harmful factors
If inertial sensors (accelerometers, gyroscopes, magnetometers) are used to detect motion, then environmental factor impact is reduced, but complex processing is needed to separate gravity from actual motion acceleration
Solution Approach 1:
The patent performs preliminary gravity separation by using the magnetometer to determine the initial stance matrix and using this matrix to transform acceleration data from the sensor coordinate system to the geomagnetic coordinate system. This preliminary processing establishes a reference frame where gravity can be systematically removed from subsequent motion measurements.
Solution Approach 2:
The patent uses feedback mechanisms where the detected stance information (from magnetometer and accelerometer combination) is continuously used to update the gravity compensation. The system monitors the relationship between sensor orientation and gravitational force, adjusting the separation calculation dynamically based on current stance conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy of motion recognition by reducing the impact of environmental factors, providing reliable motion parameter confirmation without relying on visualization methods.
Implementation Method 1
acceleration of a recognized object sampled by a tri-axial accelerometer
Implementation Method 2
angular velocity of the recognized object sampled by a tri-axial gyroscope
Implementation Method 3
an angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system sampled by a tri-axial magnetometer
Implementation Method 4
obtaining an actual acceleration amMcur at the current sampling time by adjusting the acceleration aCur at the current sampling time utilizing the stance matrix TmbCur to reduces an acceleration of gravity
Data Source
AI summary
The invention provides a method of confirming motion parameters, an apparatus for the same, and a motion assisting device. The invention obtains and utilizes the motion data of a recognized object sampled at each of the sampling time, comprising the acceleration of the recognized object sampled by a tri-axial accelerometer, the angular velocity of the recognized object sampled by a tri-axial gyroscope, and the angle of the recognized object corresponding to a three-dimensional geomagnetic coordinate system sampled by a tri-axial magnetometer. Feedback calculation is utilized to obtain an actual acceleration at each sampling time from the motion original time to the motion end time, and the actual acceleration is obtained by reducing the acceleration of gravity from the acceleration sampled by a tri-axial accelerometer. The invention reduces the complexity of the system, and the accuracy is less affected by environmental factors, particularly light.