人体运动跟踪中MEMS姿态测量单元设计与测试

人体运动姿态的实时跟踪在运动员辅助训练和康复医学中有广泛应用.设计了应用于人体运动姿态测量的MEMS姿态测量单元.该姿态测量单元包含三轴正交的MEMS加速度计、磁强计和角速率陀螺,集成微控制器以及扩展数据存储的FLASH芯片,单元大小为38 mm×28 mm×13 mm.姿态角解算采用基于四元数的扩展卡尔曼滤波算法.提出了一种利用单轴转台和楔角器进行姿态测量单元3个姿态角误差测试的新方法.测试结果表明:3个姿态角测量误差均小于2°,满足人体运动姿态测量的精度要求.

Design and Test of MEMS Attitude Measurement Unit for Human Motion Tracking

Real-time tracking of human motion has been widely applied in assisted training of athletes and rehabilitation on medicine. MEMS attitude measurement unit was designed for tracking human motion in real time. Each unit contains orthogonally mounted triads of accelerometers, magnetometers and gyros. With an integrated microcontroller and flash for data storage, the size of the unit is 38 mm×28 mm×13 mm. An extended Kalman filter based on quaternions was designed for attitude measurement. A new method for attitude measurement error test was introduced, using a single axis turntable and a fixed angle wedge. Test results show that attitude measurement error is less than 2°, which meets the requirement of human motion tracking precision.