基于九轴传感器的消防员步态监测装置研究

设计了一套基于九轴传感器（3 轴加速度、3 轴陀螺仪和3 轴磁力计）的消防员步态监测装置，对该装置的结构组成、器件选型、系统设计构建进行了研究。该装置为鞋垫式，可直接穿在作训鞋或消防靴内，可实时采集消防员的运动姿态，具有虚实步监测、步相分析、支撑分析、姿态追踪、摆动分析、微观动作分析等功能。该装置可用于消防员训练中的虚实步监测，测量的消防员步态数据可辅助评估训练强度，测试结果可为消防员定制个性化足部防护装备提供科学的数据支撑，有助于提升消防员身体协调性，缓解消防员膝盖部位冲击力。

Research on gait monitoring device of firefighters based on nine axis sensor

In this paper, a set of gait monitoring device for firefighters based on nine axis sensors (3- axis acceleration, 3- axis gyroscope and 3-axis magnetometer) is designed. The structure, device selection and system design of the device are studied. The device is insole type, which can be directly put in training shoes or fire boots. It can collect the movement posture of firefighters in real time. It has the function of virtual and real step monitoring, step phase analysis, support analysis, posture tracking, swing analysis, micro motion analysis, etc. The device can be used to detect the virtual and real steps in the training of firefighters. The measured gait data of firefighters can assist in evaluating the training intensity. The test results can provide scientific data support for the customized personalized foot protection equipment of firefighters, which is helpful to improve the coordination of firefighters and relieve the impact force of firefighters' knees.