CN108888918A - One kind is for multiple target movement velocity measuring system and method under pahtfinder hard - Google Patents
One kind is for multiple target movement velocity measuring system and method under pahtfinder hard Download PDFInfo
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- CN108888918A CN108888918A CN201810438427.8A CN201810438427A CN108888918A CN 108888918 A CN108888918 A CN 108888918A CN 201810438427 A CN201810438427 A CN 201810438427A CN 108888918 A CN108888918 A CN 108888918A
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- 238000004458 analytical method Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims description 28
- 238000006073 displacement reaction Methods 0.000 claims description 17
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- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000000295 complement effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
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- 238000012549 training Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 4
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The present invention provides one kind for multiple target movement velocity measuring system and method under pahtfinder hard, belongs to sports tachometric survey field.The system includes acceleration analysis module, radio network gateway and host computer；The acceleration analysis module includes acceleration transducer, controller, radio receiving transmitting module；The acceleration transducer is connect with controller；The controller is connect with radio receiving transmitting module；The radio receiving transmitting module and radio network gateway pass through wireless network connection；The radio network gateway is connect with host computer.The present invention can quickly and easily obtain several sportsmen real-time, accurate movement velocity under straight line, curve, the pahtfinder hards such as turn back, facilitate motion state and technical movements that coach and sportsman effectively evaluate sportsman in real time, provides data supporting to assess the effect of specific training method and formulating further drill program.
Description
Technical field
The invention belongs to sports tachometric survey fields, and in particular to one kind is for multiple target movement speed under pahtfinder hard
Measuring system and method are spent, especially suitable for measuring several sportsmen in straight line, curve, (straight line of turning back simultaneously precisely in real time
Turn back, radioactivity is turned back) etc. movement velocity under pahtfinder hards, can be applied to sports training and public movement be strong
Body field.
Background technique
Currently, common speed measurement techniques means and instrument and equipment generally comprise：It is segmented velocity-measuring system, radar velocity measurement
Instrument, ultrasonic velocity meter, photography and vedio recording test the speed, stopwatch, laser velocimeter etc..More or less there is use not for these equipment
Just, feedback speed is specific as follows compared with the limitations such as slow, measurement accuracy is limited：
1, it is segmented velocity-measuring system：The system provide pitch sensors known to two betweens average speed, can not provide
Continuous velocity variations situation, rate accuracy depend on number of sensors, but without limitation increase number of sensors be it is unpractical,
It is currently only used for the short sprint events of run duration.
2, radar meter：Due to radar velocity measurement, reflection of electromagnetic wave principle is mainly utilized, is interfered vulnerable to foeign element,
And injection microwave angle is wide, accuracy is greatly affected.It is rarely employed at present to the occasion that human body tests the speed, it is rarely seen for surveying
Measure the movement velocity of various similar ball objects.
3, ultrasonic velocity meter：Due to ultrasonic wave and a kind of sound wave, the velocity of sound is related with temperature, when in use, by temperature
Degree variation is affected.Meanwhile the not perpendicular occasion of the energy converter of object to be measured and sensor, windy occasion, need it is fast
Speed response occasion all can not normal use therefore have no substantially and be used in athletic training occasion.
4, photography and vedio recording is tested the speed：At present using relatively broad, but need to handle image after photography and vedio recording, and root
According to the parameters calculating speed such as time, frame number, slower, poor in timeliness is fed back, use is more complex.
5, the positioning-speed-measuring based on systems such as GPS：At present in outdoor occasion using relatively broad, but it is not suitable for indoor
Sports training project.
6, laser velocimeter：With advantages such as high-precision, quick responses, but such product is only applicable to linear motion
The tachometric survey of simple path and single target.
In sports training, how to be realized using modern science and technology means and obtain sportsman's precisely in real time
Movement velocity is extremely important and is badly in need of for scientific guidance training, raising level of technique.For example, in track and field
In movement and short-track speeding skating project, coach it has been suggested that " can it is continuous, accurately obtain sportsman in short-track speeding skating or short
It runs speed change curves, especially sportsman in training and enters the bend stage, sportsman is evaluated in short-track speeding skating or short with this
The whole pahtfinder hard of race (including：Starting, acceleration, into stages such as bend, spurt) effect of training " urgent need；Football,
In the sports events such as basketball, vollyball, table tennis and shuttlecock, it usually needs several sportsmen carry out the weight such as some turning back runs simultaneously
Training method is wanted, i.e., there are wilderness demands for several sportsmen trained and test simultaneously.Currently, can satisfy not yet real-time, smart
Really several sportsmen are measured in straight line, curve, the fortune turned back under pahtfinder hards such as (straight line are turned back, radioactivity is turned back) simultaneously
The technology and product of dynamic speed.
Summary of the invention
It is an object of the invention to solve above-mentioned problem existing in the prior art, provide a kind of for more under pahtfinder hard
Target speed measuring system and method can quickly and easily obtain multiple targets in straight line, curve, (straight line folding of turning back
Return, radioactivity is turned back) etc. real-time, accurate movement velocity under pahtfinder hards.
The present invention is achieved by the following technical solutions：
One kind is for multiple target movement velocity measuring system under pahtfinder hard, including acceleration analysis module, radio network gateway
And host computer；
The acceleration analysis module includes acceleration transducer, controller, radio receiving transmitting module；
The acceleration transducer is connect with controller；
The controller is connect with radio receiving transmitting module；
The radio receiving transmitting module and radio network gateway pass through wireless network connection；
The radio network gateway is connect with host computer.
The system comprises at least two acceleration analysis modules.
The acceleration analysis module includes gyro sensor, and the gyro sensor is connect with the controller.
The acceleration analysis module includes power module, the power module respectively with acceleration transducer, gyroscope
Sensor, controller, radio receiving transmitting module connection；
The acceleration analysis module includes storage unit, and the storage unit is connect with controller, being capable of real-time perfoming
Data storage.
The acceleration transducer uses 3-axis acceleration sensor；
The controller uses microcontroller；
The outer profile size of the acceleration analysis module is within 20mm × 20mm × 10mm, and weight is within 50g；
The radio receiving transmitting module uses WiFi module or ZigBee module, and maximum wireless transmission range is more than or equal to
150 meters.
The method that multiple target movement velocity measures under the pahtfinder hard realized using above system, including：
The acceleration analysis module is worn on to the measurement position of target；The measurement position include target shirtfront,
Back or low back；
The acceleration in three directions of target is measured using the acceleration transducer, then utilizes the acceleration in three directions
Degree converses the orientation angle θ of target；The directional angular velocity ω of target is obtained using gyro sensor measurement simultaneously, and by institute
It states orientation angle θ and the directional angular velocity ω is sent to microcontroller；
The microcontroller using complementary filter blending algorithm to the orientation angle θ and directional angular velocity ω received into
Row fusion calculation obtains the orientation angle of the acceleration of target；
Using the radio receiving transmitting module and the radio network gateway, the target that the acceleration transducer measurement is obtained
The orientation angle for the acceleration that acceleration, the microcontroller fusion calculation obtain is sent to host computer；
The host computer obtains the measurement result of target using the orientation angle of the acceleration and acceleration, and will measurement
As a result it is shown.
The complementary filter blending algorithm is as follows：
The side obtained after being merged the orientation angle that acceleration transducer is calculated with the last time using following formula
The directional angular velocity obtained to angle to gyro sensor measurement integrates again after being modified：
Angle_new=Angle_last+ [(θ-Angle_last) × r+ ω] × t
Angle_last=Angle_new
Wherein, Angle_new is this fused orientation angle, and Angle_last is last fused deflection
Degree, r are the blending algorithm factor, and t is the time step of integrator.
The host computer obtains the measurement result of target using the orientation angle of the acceleration and acceleration, and will measurement
As a result the operation shown includes：
Each target is numbered；
To each target, using the acceleration of the target and the orientation angle of acceleration obtain the target movement velocity,
Displacement, movement velocity, displacement are measurement result；
Using the time as abscissa, the accelerating curve, rate curve, displacement curve of the target are shown in display
On；Displaying target information, the target information include number, name, unit, age and remarks over the display simultaneously.
The method further includes：
Acceleration, orientation angle, directional angular velocity these data are kept in using the storage unit, when data are deposited
Data are uploaded to host computer again when storing up predetermined amount；The predetermined amount is between 30~100 bytes；
If there is reception of wireless signals abnormal phenomenon, then the interim storing data of storage unit is utilized, is connect to wireless signal
The data temporarily stored are uploaded to host computer again when receiving normal.
The method further includes：
The video data of target movement is acquired by video acquisition system, and accelerating curve, rate curve, displacement is bent
Line is matched with video data, and accelerating curve, rate curve, displacement curve and video are played simultaneously over the display；
It is described to include by the matched operation of accelerating curve, rate curve, displacement curve and video data progress：
When acquiring the video data of target movement, by the way that the key frame on time shaft is marked, identification target fortune
The time point of dynamic initial time, and the time point is labeled as exercise duration；
The capture movement start point information in the signal of the acceleration obtained by wireless transmission, and when marker motion starting
Between；
According to two exercise durations, acceleration signal and vision signal are subjected to unification on a timeline, at this point, plus
Rate curve, rate curve, displacement curve realize synchronous, i.e. realization matching with video data on a timeline.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) present invention can quickly and easily obtain several sportsmen in straight line, curve, turn back that (straight line is turned back, radiated
Property turn back) etc. real-time, accurate movement velocity under pahtfinder hards, facilitate coach and sportsman effectively evaluation fortune in real time
The motion state and technical movements of mobilization provide number to assess the effect of specific training method and formulating further drill program
According to support.
(2) the configuration of the present invention is simple, operation is easy to operation, easy to carry, mentions for modern sport games sentific training
It has supplied a kind of completely new and has been movement velocity measuring system that is highly useful and being badly in need of for coach and sportsman, it can
The working strength for substantially reducing coach improves the efficiency and scientific level of athletic training.
(3) present invention is applied widely, sports training can be applied in each professional sports team, sports institutes and led
Domain, user group is larger, has good market prospects；In addition, the present invention also has good application and popularization value, can push away
It is wide to be applied to public sport and body-building field.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of velocity measuring system of the present invention；
Fig. 2 is the flow diagram of complementary filter blending algorithm of the present invention；
Fig. 3 is the interface layout schematic diagram of Data Management Analysis software of the present invention.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing：
As shown in Figure 1, the present invention includes that multiple acceleration are surveyed for multiple target movement velocity measuring system under pahtfinder hard
Measure module, radio network gateway and host computer.
The acceleration analysis module includes that (acceleration transducer is 3-axis acceleration sensing to acceleration transducer
Device mostly uses greatly pressure resistance type, condenser type and piezoelectric type), microcontroller, radio receiving transmitting module and power module.It individually uses and adds
Velocity sensor can realize measurement, but in order to eliminate the deviation of sensor, as a preferred option, the present embodiment is in systems
Increase gyro sensor, i.e., uses two kinds of sensors simultaneously.
Complementary filter blending algorithm, the direction calculated to the gyro sensor are used by the microcontroller
Angular speed and the calculated orientation angle of the acceleration transducer are merged, and accurate measure goes out the side of target acceleration of motion
To angle.Later, (acceleration information is direct to the acceleration that the acceleration analysis module acquisition acceleration transducer measures
Measured by acceleration transducer) and the calculated acceleration of microcontroller orientation angle, pass through the wireless receiving and dispatching
Module and the radio network gateway are wirelessly transmitted to the host computer, eventually by Data Management Analysis software product in the host computer
Divide the speed and displacement for solving multiple targets.
The acceleration analysis module number n in present system is more than or equal to 2, and the acceleration in respectively Fig. 1 is surveyed
It measures module 1 and arrives acceleration analysis module n, meet the requirement of multiple target, can be within 2~10, and the acceleration analysis mould
Outer profile after block is integrated is generally within 20mm × 20mm × 10mm, and weight is generally within 50g, and when single works
Between generally within 2~4 hours (the single working time is exactly what power module determined).In addition, the radio receiving transmitting module one
As use WiFi module or ZigBee module, maximum wireless transmission range reaches 150 meters.
The acceleration analysis module in present system has storage unit, and (storage unit and microcontroller connect
Connect), can real-time implementation data storage, first collected acceleration and orientation angle data can be kept in, deposited in data
Data are uploaded again when storing up predetermined amount, the predetermined amount of the data storage is generally within 30~100 bytes.But it is more when occurring
When name sportsman is together or spacing distance is very close, it is wirelessly transferred there may be signal is blocked, that is, wireless communication occurs
Number receive abnormal phenomenon, need the interim storing data of storage unit, the number that will temporarily store again when signal receives normal at this time
According to upload.
As shown in Fig. 2, the complementary filter blending algorithm refers to first with the direction calculated by acceleration transducer
Angle (acceleration transducer directly export be three directions of acceleration size, three direction sizes can converse direction
Angle) and last fusion after obtained orientation angle directional angular velocity that gyro sensor measurement is obtained (gyroscope passes
What sensor directly exported is directional angular velocity) be modified after integrate again, effective rejection of acceleration sensor and gyro sensors
The deviation of device, measures the orientation angle variation of sportsman's acceleration more accurately, and function algorithm process is as follows：
Angle_new=Angle_last+ [(θ-Angle_last) × r+ ω] × t
Angle_last=Angle_new
Wherein, Angle_new is this fused orientation angle, and Angle_last is last fused deflection
Degree, θ are the orientation angle that acceleration transducer is calculated, and ω is the directional angular velocity that gyro sensor measurement obtains, and r is
The blending algorithm factor (is demarcated according to syncretizing effect and is obtained), and t is integrator time step-length (according to the data output frequencies of sensor
To determine).
The Data Management Analysis software in host computer can be marked according to target, that is, sportsman identity information
Number, the accelerating curve of sportsman is (directly according to the acquisition of collected acceleration including the size curve of speed and direction
Angle curve), the motion informations such as rate curve and displacement curve can extract and check (microcontroller by number
The orientation angle variation of obtained acceleration will also be shown), and can be realized the movement for checking any time sportsman
Acceleration, speed, displacement data and realization Athletess information (i.e. above-mentioned three kinds of curves) and video data (are realized and are moved
The function that member's motion information and video data synchronization play analysis belongs to another function of Data Management Analysis software, but video data
From video acquisition system, belong to another system) analysis is played simultaneously.
As shown in figure 3, the Data Management Analysis software carries out graphical interface program design using LabVIEW, interface is left
Upper side marks the target i.e. identity information of sportsman, and lower section is the acceleration information text of Athletess process on the left of interface
(data file is automatic after acceleration information and video data are uploaded to Data Management Analysis software for part and video data file
Generate), interface right side is the video and motion information after being synchronized by realtime graphic and data fit procedures.Substantially matching journey
Sequence is as follows：During Athletess video acquisition, keyframe techniques are used by program, by the key on time shaft
The label of frame identifies the time point of Athletess initial time and is labeled as initial time.Meanwhile it being obtained referring to wireless transmission
Acceleration signal capture movement start point information, marker motion initial time.The acceleration signal of two exercise durations
Unify on a timeline with vision signal, at this point, the motion process video data of sportsman and the acceleration information of detection when
Between it is synchronous on axis.
The acceleration analysis module is generally installed to be worn on the target i.e. trunk of sportsman and (be worn with a sportsman
One piece of acceleration analysis module is worn, preferably on trunk shirtfront, back or low back).
The reception of wireless signals abnormal phenomenon is generally when multiple targets are together or when spacing distance is very close, wirelessly
Transmission, which blocks signal there may be interference, causes reception of wireless signals abnormal.
Velocity measuring system of the present invention can be convenient, quickly obtain multiple targets in straight line, curve, (straight line folding of turning back
Return, radioactivity is turned back) etc. real-time, accurate movement velocity, the i.e. size and orientation angle of speed under pahtfinder hards, and it is right
In straight line, curve, the processing method turned back be duplicate.
Above-mentioned technical proposal is one embodiment of the present invention, for those skilled in the art, at this
On the basis of disclosure of the invention application method and principle, it is easy to make various types of improvement or deformation, be not limited solely to this
Invent method described in above-mentioned specific embodiment, therefore previously described mode is only preferred, and and do not have limitation
The meaning of property.
Claims (10)
1. multiple target movement velocity measuring system under a kind of pahtfinder hard, it is characterised in that：The system comprises acceleration analyses
Module, radio network gateway and host computer；
The acceleration analysis module includes acceleration transducer, controller, radio receiving transmitting module；
The acceleration transducer is connect with controller；
The controller is connect with radio receiving transmitting module；
The radio receiving transmitting module and radio network gateway pass through wireless network connection；
The radio network gateway is connect with host computer.
2. multiple target movement velocity measuring system under pahtfinder hard according to claim 1, it is characterised in that：The system
Including at least two acceleration analysis modules.
3. multiple target movement velocity measuring system under pahtfinder hard according to claim 1 or 2, it is characterised in that：It is described
Acceleration analysis module includes gyro sensor, and the gyro sensor is connect with the controller.
4. multiple target movement velocity measuring system under pahtfinder hard according to claim 3, it is characterised in that：The acceleration
Spend measurement module include power module, the power module respectively with acceleration transducer, gyro sensor, controller, nothing
The connection of line transceiver module；
The acceleration analysis module includes storage unit, and the storage unit is connect with controller, being capable of real-time perfoming data
Storage.
5. multiple target movement velocity measuring system under pahtfinder hard according to claim 4, it is characterised in that：The acceleration
It spends sensor and uses 3-axis acceleration sensor；
The controller uses microcontroller；
The outer profile size of the acceleration analysis module is within 20mm × 20mm × 10mm, and weight is within 50g；
The radio receiving transmitting module uses WiFi module or ZigBee module, and maximum wireless transmission range is more than or equal to 150
Rice.
6. the pahtfinder hard realized using multiple target movement velocity measuring system under any pahtfinder hard of claim 1-5
The method of lower multiple target movement velocity measurement, it is characterised in that：The method includes：
The acceleration analysis module is worn on to the measurement position of target；The measurement position includes the shirtfront of target, back
Or low back；
The acceleration that three directions of target are measured using the acceleration transducer, is then changed using the acceleration in three directions
Calculate the orientation angle θ of target；The directional angular velocity ω of target is obtained using gyro sensor measurement simultaneously, and by the side
Microcontroller is sent to angle, θ and the directional angular velocity ω；
The microcontroller melts the orientation angle θ and directional angular velocity ω that receive using complementary filter blending algorithm
It is total to calculate the orientation angle for obtaining the acceleration of target；
Using the radio receiving transmitting module and the radio network gateway, the acceleration for the target that the acceleration transducer measurement is obtained
The orientation angle for the acceleration that degree, the microcontroller fusion calculation obtain is sent to host computer；
The host computer obtains the measurement result of target using the orientation angle of the acceleration and acceleration, and by measurement result
It is shown.
7. according to the method described in claim 6, it is characterized in that：The complementary filter blending algorithm is as follows：Using following
Formula is by the orientation angle obtained after the orientation angle that acceleration transducer is calculated and last fusion to gyro sensors
The directional angular velocity that device measurement obtains integrates again after being modified：
Angle_new=Angle_last+ [(θ-Angle_last) × r+ ω] × t
Angle_last=Angle_new
Wherein, Angle_new is this fused orientation angle, and Angle_last is last fused orientation angle, r
For the blending algorithm factor, t is the time step of integrator.
8. according to the method described in claim 6, it is characterized in that：The host computer utilizes the side of the acceleration and acceleration
The measurement result of target is obtained to angle, and the operation that measurement result is shown includes：
Each target is numbered；
To each target, movement velocity, the displacement of the target are obtained using the acceleration of the target and the orientation angle of acceleration,
The movement velocity, displacement are measurement result；
Using the time as abscissa, the accelerating curve, rate curve, displacement curve of the target are shown over the display；Together
When displaying target information over the display, the target information includes number, name, unit, age and remarks.
9. according to the method described in claim 6, it is characterized in that：The method further includes：
Acceleration, orientation angle, directional angular velocity these data are kept in using the storage unit, when data storage is arrived
Data are uploaded to host computer again when predetermined amount；The predetermined amount is between 30~100 bytes；
If there is reception of wireless signals abnormal phenomenon, then the interim storing data of storage unit is utilized, just to reception of wireless signals
The data temporarily stored are uploaded to host computer by Chang Shizai.
10. according to the method described in claim 6, it is characterized in that：The method further includes：
By video acquisition system acquire target movement video data, and by accelerating curve, rate curve, displacement curve with
Video data is matched, and accelerating curve, rate curve, displacement curve and video are played simultaneously over the display；
It is described to include by the matched operation of accelerating curve, rate curve, displacement curve and video data progress：
When acquiring the video data of target movement, by the way that the key frame on time shaft is marked, the movement of identification target is just
The time point at moment beginning, and the time point is labeled as exercise duration；
The capture movement start point information in the signal of the acceleration obtained by wireless transmission, and marker motion initial time；
According to two exercise durations, acceleration signal and vision signal are subjected to unification on a timeline, at this point, acceleration
Curve, rate curve, displacement curve realize synchronous, i.e. realization matching with video data on a timeline.
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| CN201810438427.8A CN108888918B (en) | 2018-05-09 | 2018-05-09 | System and method for measuring multi-target motion speed under complex path |
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| CN201810438427.8A CN108888918B (en) | 2018-05-09 | 2018-05-09 | System and method for measuring multi-target motion speed under complex path |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113633953A (en) * | 2021-06-21 | 2021-11-12 | 国家体育总局体育科学研究所 | Relay baton integrated with positioning module |
| CN114669035A (en) * | 2022-03-07 | 2022-06-28 | 湖北文理学院 | Curve dash detection method, straight dash detection method and straight dash detection device |
| CN115218929A (en) * | 2022-09-20 | 2022-10-21 | 河北美泰电子科技有限公司 | Inertial sensor mapping device and system |
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| CN114669035A (en) * | 2022-03-07 | 2022-06-28 | 湖北文理学院 | Curve dash detection method, straight dash detection method and straight dash detection device |
| CN115218929A (en) * | 2022-09-20 | 2022-10-21 | 河北美泰电子科技有限公司 | Inertial sensor mapping device and system |
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