CN109589088A - Body gait acquires equipment and acquisition method - Google Patents
Body gait acquires equipment and acquisition method Download PDFInfo
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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Abstract
The present invention provides a kind of body gait acquisition equipment, is acquired for the gait data to user, and the body gait acquisition equipment includes several first sensing processing units and Main Processor Unit.Several first sensing processing units, it is set to the lower extremity of user, several first sensing datas are generated for being respectively induced the movement of lower limb, wherein, every one first sensing processing unit and handled to obtain treated several first analyses data to generated first sensing data by preset posture computation.The Main Processor Unit is connect with several first sensing processing units, several first analysis data generated for receiving several first sensing processing units, and generates an integrated data according to several first analysis data.The present invention also provides a kind of body gait acquisition methods.Body gait of the invention acquires device and method, can effectively reduce volume of transmitted data, the stability and reliability of improve data transfer.
Description
Technical field
The present invention relates to a kind of human motion acquisition equipment more particularly to a kind of body gait acquisition equipment and acquisition sides
Method.
Background technique
Currently, being analyzed accordingly according to different needs, being frequently necessary to acquisition body gait information, to obtain human body
Gait rule.Wherein, common first kind analysis mode is then to analyze processing using three-dimensional gait analysis system acquisition data
After be presented to the user, the second alanysis mode and is passed through data by acquiring sensing data (such as angular transducer)
Some simple communication modes upload initial data, are presented to the user after finally carrying out simple process to data.The first kind point
Although analysis mode can obtain the data analysis result met the requirements using three-dimensional gait analysis system acquisition data, three-dimensional
Gait analysis system it is expensive, use complexity and it is necessary in special laboratory carry out data acquisition, limitation
It is bigger.The acquisition system of second alanysis mode, it is basicly stable for can achieve under the feelings of small data quantity, but when number
When according to measuring bigger, it is easy to appear loss of data or the relatively low unfavorable condition of real-time, in addition the second class acquisition system pair
The processing of data is relatively simple, and the data that user obtains can not intuitively react current motion state, it is necessary to will be in data
It is transmitted to server or sends computer to, after special analysis software processing analysis, can just obtain and user is intuitively counted
According to causing inconvenience to user.
Summary of the invention
The present invention provides a kind of body gait acquisition equipment and acquisition method, by the sensing for being distributed in human body different parts
Device completes induction and data processing, so that the data volume for needing to transmit reduces, improves the reliability and stability of data transmission.
On the one hand, a kind of body gait acquisition equipment is provided, is acquired for the gait data to user, the human body
It includes several first sensing processing units and Main Processor Unit that gait, which acquires equipment,.Several first sensing processing units, if
It is placed in the lower extremity of user, generates several first sensing datas for being respectively induced the movement of lower limb, wherein every one first
Sensing processing unit is simultaneously handled to obtain that treated by preset posture computation to generated first sensing data
Several first analysis data.The Main Processor Unit is connect with several first sensing processing units, if described for receiving
Several first analysis data that dry first sensing processing unit generates, and it is comprehensive according to several first analysis data generations one
Data.
On the other hand, a kind of body gait acquisition method is also provided, comprising steps of passing through several lower limb for being set to user
First sensing processing unit at position incudes the movement of lower limb and generates several first sensing datas；Every one first sensing processing is single
Member by preset posture computation to the first sensing data that itself is generated handled to obtain treated several first points
Analyse data；Several first analysis data are received, and generate an integrated data according to several first analysis data.
Body gait acquisition equipment of the invention and body gait acquisition method, by the first sensing processing unit and pass through
Preset posture computation is handled to obtain treated several first analyses data to generated first sensing data, so
Afterwards by several first analysis data transmissions to Main Processor Unit, since several first analysis data have been by place
Data after reason will greatly reduce volume of transmitted data, improve the reliability and stability of transmission.
Detailed description of the invention
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other obvious modes of texturing.
Fig. 1 is the structural block diagram of the body gait acquisition equipment in an embodiment of the present invention.
Fig. 2 is the structural frames of the first sensing processing unit of the body gait acquisition equipment in an embodiment of the present invention
Figure.
Fig. 3 is the structural frames of the second sensing processing unit of the body gait acquisition equipment in an embodiment of the present invention
Figure.
Fig. 4 is the process flow diagram of the expanded Kalman filtration algorithm in an embodiment of the present invention.
Fig. 5 is the flow chart of the body gait acquisition method in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clear
Chu is fully described by, it is clear that described embodiment is only some embodiments of the invention, rather than whole realities
Apply mode.Based on the embodiment in the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 1, acquiring the module diagram of equipment 100 for the body gait in an embodiment of the present invention.It is described
Body gait acquisition equipment 100 is for being acquired the gait data of user.As shown in Figure 1, the body gait acquisition is set
Standby 100 include several first sensing processing units 10 and Main Processor Unit 20.
Wherein, several first sensing processing units 10 are set to the lower extremity of user.
Several first sensing processing units 10 are used to incude the movement of lower limb and generate several first sensing datas, often
One first sensing processing unit 10 is simultaneously handled first sensing data by preset posture computation
Several first analysis data afterwards.
The Main Processor Unit 20 is connect with several first sensing processing units 10, for receiving described several first
Several first analysis data that sensing processing unit 10 generates, and a comprehensive number is generated according to several first analysis data
According to.
In the application, preset posture computation is realized at the first sensing processing unit 10, thus main process task
What unit 20 obtained is exactly the data after handling well, and the data volume transmitted needed for greatly reducing increases the reliable of data
Property and real-time.
As shown in Figure 1, in some embodiments, the body gait acquisition equipment 100 further includes at several second sensings
Unit 30 is managed, second sensing processing unit 30 is set to the bottom of the foot of user.Several second sensing processing units
30 for incuding foot movement and generating several second sensing datas.
The Main Processor Unit 20 is also communicated to connect with second sensing processing unit 30, is passed for receiving described second
Feel several second sensing datas that processing unit 30 generates.
In some embodiments, the Main Processor Unit 20 generates an integrated data according to several first analysis data
It include: to generate integrated data according to several first analysis data and several second sensing datas.
That is, in some embodiments, sensing data that second sensing processing unit 30 generates can without processing and
It is transmitted directly to Main Processor Unit 20.
In some embodiments, several second sensing processing units 30 incude foot movement and generate several second and pass
Feel data after, every one second sensing processing unit 30 also by the preset posture computation to second sensing data into
Several second analyses data that row processing obtains that treated.
In some embodiments, the Main Processor Unit 20 generates an integrated data according to several first analysis data
It include: to generate integrated data according to several first analysis data and several second analysis data.
That is, in some embodiments, the sensing data that second sensing processing unit 30 generates is retransmited by processing
To Main Processor Unit 20, to further reduced the data volume of required transmission, the reliability and reality of data are further increased
Shi Xing.
In some embodiments, the body gait acquisition equipment 100 further includes display unit 40, the Main Processor Unit
20 are also used to show the integrated data on display unit 40, for user's viewing.
In some embodiments, the body gait acquisition equipment 100 further includes storage unit 50, the Main Processor Unit
20 are also used to for the integrated data being stored in the storage unit 50, check that exercise data records so that user is subsequent.
Wherein, the quantity of several first sensing processing units 10 can be four, be respectively arranged under the left and right of user
On the thigh and calf of limb.The quantity of several second sensing units 20 can be two, be respectively arranged at the foot of the left and right foot of user
Bottom.
It referring to Figure 2 together, is the structural schematic diagram of the first sensing processing unit 10.In some embodiments, every 1
One sensing processing unit 10 includes action sensor 11 and microcontroller 12, and the action sensor 11 obtains human body for incuding
The movement of lower extremity and generate first sensing data, the microcontroller 12 be used for by the preset posture resolve calculation
Method handles first sensing data, and obtains the first analysis data for spatial attitude data.
In some embodiments, the action sensor 11 is nine axle sensors, including 3-axis acceleration induction, three axis tops
Spiral shell instrument, three axis earth inductions, it includes but is not limited to three-dimensional acceleration, three-dimensional angular velocity, dimensionally that nine axle sensor, which generates,
First sensing data of magnetic data.The microcontroller 12 is used for through the preset posture computation to the inertia sensing
The first sensing data progress of the including but not limited to three-dimensional acceleration, three-dimensional angular velocity, three-dimensional geomagnetic data that device generates
Processing, and obtain the first analysis data for spatial attitude data.
In further embodiments, the action sensor 11 is angular transducer, that is, gyroscope, the angle sensor
Device is for incuding the movement for obtaining human body lower limbs position and generating the first sensing data including three-dimensional angular velocity.The microcontroller
Device 12 is used to carry out by the three-dimensional perspective information that angular transducer of the preset posture computation to place generates
Processing, and obtain the first analysis data for spatial attitude data.
It is the structural schematic diagram of the second sensing processing unit 30 in one embodiment also referring to Fig. 3.Wherein, one
In a little embodiments, every one second sensing processing unit 30 may include action sensor 31 and pressure sensor 32.
The action sensor 31 is for detecting foot movement and obtaining exercise data, and the pressure sensor 32 is for detecing
It surveys the pressure that vola generates when landing and obtains pressure data, so that obtaining includes the described of the exercise data and pressure data
Second sensing data.
In some embodiments, as shown in figure 3, every one second sensing processing unit 30 further comprises microcontroller
33.Each microcontroller 33 is also handled second sensing data by the preset posture computation
Several second analysis data afterwards.
Likewise, the action sensor 31 can be nine axle sensors or angular transducer.When the action sensor 31
When for nine axle sensors, for generating three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic data.When the action sensor 31
When for angular transducer, for generating three-dimensional angular velocity information.
Wherein, the Main Processor Unit 20 is handled with several first sensing processing units 10 and several second sensings
Unit 30 is communicated by CAN (Controller Area Network, controller local area network) network.The CAN communication
Speed has calibration function up to 1M (million) in communications protocol, increase the reliability and real-time of communication.Wherein, if it is described
It is connected between dry first sensing processing unit 10 and several second sensing processing units 30 also by CAN bus, described first
It is to pass through serial peripheral interface (SPI, Serial between action sensor 11 in sensor unit 10 and microcontroller 12
Peripheral Interface) it is connected with each other, the action sensor 31 and microcontroller in the second sensor unit 20
Also by serial peripheral interface is connected with each other between 33.
In further embodiments, the Main Processor Unit 20 and several first sensing processing units 10 and several
Second sensing processing unit 30 can also be communicated by RS-485, bluetooth, WIFI etc..
As shown in Figure 1, in specific application, the Main Processor Unit 20, the display unit 40 and the storage are single
Member 50 can be located on a master control borad 200.The master control borad can be flexible circuit board or pcb board (printed circuit
Board, printed circuit board), the Main Processor Unit 20, the display unit 40 and the storage unit 50 are installed on the master
It controls on plate 200.In further embodiments, the Main Processor Unit 20, the display unit 40 and the storage unit 50 can
In a portable terminal, such as can be in a smartwatch, smart phone.Several first sensing processing units 10
And several second sensing processing units 30 can be to be set in closed flexible circuit board, several first sensing processing are single
Member 10 can tie up on the thigh and calf of the left and right lower limb of user.Several second sensing processing units 30 may be disposed at the shoes of shoes
On the face of bottom upward, when user gets on one's shoes the period of the day from 11 p.m. to 1 a.m, the foot of user is contacted with 30 face of the second sensing processing unit, and with
Family walks or drives several second sensing processing units 30 to move together when running, and in foot landing to the processing of the second sensing
Unit 30 generates pressure.
In any embodiment above-mentioned, the preset posture computation is EKF (Extended Kalman filter) algorithm.
To, every one first sensing processing unit 10 and by preset posture computation to first sensing data into
Several first analyses data that row processing obtains that treated, specifically: every one first sensing processing unit 10 simultaneously passes through EKF algorithm
Handled to obtain treated several first analyses data to first sensing data.Every one second sensing processing is single
Member 30 by the preset posture computation to second sensing data handled to obtain treated several second points
Data are analysed, specifically: every one second sensing processing unit 30 is handled second sensing data by the EKF algorithm
Several second analyses data that obtain that treated.
Referring to Figure 4 together, be EKF algorithm process flow diagram, more specifically, first sensing processing unit 10 or
Second sensing processing unit 30 carries out following processing to first or second sensing data.
Firstly, carrying out parameter initialization (S401).
Then, sensing data (S402) is obtained.Wherein, when action sensor 11,31 is nine axle sensor, the sensing
Data include but is not limited to three-dimensional acceleration, three-dimensional angular velocity, three-dimensional geomagnetic data.
According to the system state amount at the system state amount estimation current time that the sensing data and last moment obtain
(S403)。
According to the covariance matrix at the system state amount estimation current time that the sensing data and last moment obtain
(S404)。
The kalman gain (S405) at current time is determined according to the covariance matrix estimated.
The covariance matrix (S406) at current time is determined according to the covariance matrix estimated.
It updates to obtain the system state amount at current time in conjunction with the kalman gain of the sensing data and current time
(S407).Wherein, the system state amount is to analyze data made of converting mentioned by sensing data.
Wherein, after executing the step S406, S402 can be returned to step, the step S402-S408 is periodically followed
Ring can then be obtained when Main Processor Unit 20 needs to call the first analysis data or the second analysis data by currently newest
System state amount be reported to Main Processor Unit 20.
In some embodiments, when body gait acquisition equipment 100 is in off-line state, the Main Processor Unit
20 sequentially or simultaneously issue acquisition to several first sensor units 10 and several second sensor units 30, so that described
Several first sensor units 10 acquire corresponding data with several second sensor units 30, and the Main Processor Unit 20 is simultaneously collected
The data that several first sensor units 10 are acquired and uploaded with several second sensor units 30 store it in described
In storage unit 50.
When body gait acquisition equipment 100 is online, Main Processor Unit 20, which sequentially or simultaneously issues, to be adopted
Collection order is to several first sensing processing units 10 and several second sensing processing units 30, so that at several first sensings
Reason unit 10 and several second sensing processing units 30 collect corresponding data, if described in the Main Processor Unit 20 and collection
The data that dry first sensing processing unit 10 is acquired and uploaded with several second sensing processing units 30, and by the data with one
Fixed protocol mode is transmitted to host computer, host computer according to the data received by it on host computer with text or image
Mode show.
Wherein, several first sensing processing units 10 collect respective counts with several second sensing processing units 30
According to including: to obtain corresponding data after carrying out EKF algorithm process after acquisition initial data, or initial data is collected as institute
Corresponding data is stated, and without EKF algorithm process.
Wherein, the body gait acquisition equipment 100, which is online, refers to the body gait acquisition equipment 100
Main Processor Unit 20 be in connected state, i.e., be in network connection state with host computer.The body gait acquires equipment 100
Refer to be that the Main Processor Unit 20 of the body gait acquisition equipment 100 is in disconnect with the host computer in off-line state to connect
The state connect.
Wherein, the host computer can be the mobile terminals such as mobile phone, tablet computer, can also be PC, server.
Wherein, the Main Processor Unit 20 can be central processing unit, digital signal processor, single-chip microcontroller etc., the micro-control
Device 12,33 processed can be single-chip microcontroller, miniature processing chip etc..The display unit 40 can be OLED display screen, liquid crystal display etc..
The storage unit 50 can be flash card (SD card), USB flash disk, solid-state memory etc..
Wherein, as shown in Figure 1, body gait acquisition equipment 100 further includes power supply unit 60, said supply unit 60
It powers for Main Processor Unit 20, the display unit 40 and the storage unit 50 on the master control borad 200.As shown in Figure 1,
In some embodiments, said supply unit 60 can be single with the Main Processor Unit 20, the display unit 40 and the storage
Member 50 is integrated on master control borad 200, can also be installed in portable terminal simultaneously.Said supply unit 60 can be battery, or
May also include Power Management Unit, the voltage for providing battery be converted to Main Processor Unit 20, the display unit 40 and
Operating voltage required for the storage unit 50 and be that it powers respectively.
Referring to Fig. 5, for the flow chart of the body gait acquisition method in one embodiment of the invention.The method is applied to
In body gait acquisition equipment 100 above-mentioned.
It is generated by the movement that the first sensing processing unit 10 of several lower extremities for being set to user incudes lower limb
Several first sensing datas (S501).Wherein, the quantity of first sensing unit 10 is four, is respectively arranged at user or so
On the thigh and calf of lower limb.First sensing unit 10 may include for generating three-dimensional acceleration, three-dimensional angular velocity and dimensionally
Nine axle sensors of magnetic data, generated first sensing data may include three-dimensional acceleration, three-dimensional angular velocity, dimensionally magnetic number
According to can also only include the angular transducer for generating three axis angular rates, generated first sensing data may include three dimensional angular
Speed.
The first sensing data that every one first sensing processing unit 10 generates itself by preset posture computation into
Several first analyses data (S503) that row processing obtains that treated.Wherein, the preset posture computation is
Several first analysis data are received by Main Processor Unit 20, and are produced according to several first analysis data
Raw an integrated data (S505).Wherein, the Main Processor Unit 20 and several first sensing units 10 by CAN network into
Row communicates and receives several first analyses data.
To which in the application, every one first sensing processing unit 10 handles the sensing data that itself is generated
After obtain analysis data after be transmitted to again Main Processor Unit 20 carry out aggregation process, can effectively reduce data transmission data volume,
Enhance the stability of signal transmission.
As shown in figure 5, in some embodiments, the body gait acquisition method further comprises the steps of:
The integrated data is shown on display unit 40, so that user watches (S507).
As shown in figure 5, in some embodiments, the body gait acquisition method further comprises the steps of:
The integrated data is stored in storage unit 50, (S509) is checked so that user is subsequent.
Wherein, in some embodiments, the body gait acquisition method, which is further comprised the steps of:, is set to user by several
Bottom of the foot the second sensing processing unit 30 induction foot movement and generate several second sensing datas.Wherein, if it is described
The quantity of dry second sensing processing unit 30 is two, is respectively arranged at the sole of the left and right foot of user.At second sensing
Reason unit 30 may include passing for generating three-dimensional acceleration, nine axle sensors of three-dimensional angular velocity and three-dimensional geomagnetic data and pressure
Sensor, generated first sensing data may include three-dimensional acceleration, three-dimensional angular velocity, three-dimensional geomagnetic data and number pressure
According to can also only include the angular transducer and pressure sensor for generating three axis angular rates, generated first sensing data
It may include three-dimensional angular velocity and pressure data.
The step S505 is specifically included: receiving several first analysis data and several second sensing numbers
According to according to several first analysis data and several second sensing data generations integrated data.The main place
Unit 20 and several first sensing units 10 and several second sensing processing units 30 is managed to carry out by CAN network
It communicates and receives several first analysis data and several second sensing datas.
Wherein, in some embodiments, the body gait acquisition method, which is further comprised the steps of:, is set to user by several
Bottom of the foot the second sensing processing unit 30 induction foot movement and generate several second sensing datas；Every one second sensing
If processing unit 30 also is handled to obtain by the preset posture computation to second sensing data, treated
Dry second analysis data.
The step S505 is specifically included: receiving several first analysis data and several second analysis numbers
According to according to several first analysis data and several second analysis data generations integrated data.
In the application, sensed by reasonable software architecture and advanced attitude algorithm algorithm, and by first, second
Algorithm and processing between the modules such as processing unit 10,30 is mutually indepedent, not only can reduce the coupling between modules,
So that mutually being stood between the functional modules such as the multiple first, second sensing processing unit 10,30, easy to disassemble and replacement, simultaneously
It can also obtain faster, more accurate data.
Above disclosed be only a kind of better embodiment of the present invention, cannot limit the present invention's certainly with this
Interest field, those of ordinary skill in the art will appreciate that realizing all or part of the process of above embodiment, and Yi Benfa
Equivalent variations made by bright claim, still belongs to the scope covered by the invention.
Claims (14)
1. a kind of body gait acquires equipment, it is acquired for the gait data to user, which is characterized in that the human-step
State acquires equipment
Several first sensing processing units, are set to the lower extremity of user, if the movement for being respectively induced lower limb and generate
Dry first sensing data, wherein every one first sensing processing unit simultaneously passes through preset posture computation to generated first
Sensing data is handled to obtain treated several first analyses data；
Main Processor Unit is connect with several first sensing processing units, single for receiving several first sensing processing
Several first analysis data that member generates, and an integrated data is generated according to several first analysis data.
2. body gait as described in claim 1 acquires equipment, which is characterized in that the body gait acquires equipment and further includes
Several second sensing processing units, several second sensing processing units are set to the bottom of the foot of user, use for incuding
The foot movement at family and generate several second sensing datas.
3. body gait as claimed in claim 2 acquires equipment, which is characterized in that if described in the Main Processor Unit also receives
Dry second sensing data, it includes: basis that the Main Processor Unit, which generates an integrated data according to several first analysis data,
Several first analysis data and several second sensing datas generate the integrated data.
4. body gait as claimed in claim 2 acquires equipment, which is characterized in that every one second sensing processing unit is also
Handled to obtain treated several second analyses numbers to second sensing data by the preset posture computation
According to it includes: according to described several first that the Main Processor Unit, which generates an integrated data according to several first analysis data,
It analyzes data and several second analysis data generates the integrated data.
5. body gait as described in claim 1 acquires equipment, which is characterized in that the body gait acquires equipment and further includes
Display unit, the Main Processor Unit are also connect with the display unit, for control the integrated data is shown in it is described
On display unit.
6. body gait as described in claim 1 acquires equipment, which is characterized in that the body gait acquires equipment and further includes
Storage unit, the Main Processor Unit are also connect with the storage unit, for control the integrated data is stored in it is described
Storage unit.
7. body gait as described in claim 1 acquires equipment, which is characterized in that every one first sensing processing unit includes dynamic
Make sensor and microcontroller, the action sensor is for incuding the movement for obtaining human body lower limbs position and generating described first
Sensing data, the microcontroller are used to handle first sensing data by the preset posture computation,
And obtain the first analysis data for spatial attitude data.
8. the body gait acquisition equipment stated such as claim 2, which is characterized in that every one second sensing processing unit may include moving
Make sensor and pressure sensor, for detecting foot movement and obtaining exercise data, the pressure passes the action sensor
Sensor is for detecting the pressure generated when vola lands and obtaining pressure data, so that obtaining includes the exercise data and pressure
Second sensing data of data.
9. as the described in any item body gaits of claim 2-8 acquire equipment, which is characterized in that the Main Processor Unit and institute
It states several first sensing processing units and several second sensing processing units is communicated by CAN network.
10. as the described in any item body gaits of claim 2-8 acquire equipment, which is characterized in that the preset posture resolves
Algorithm is expanded Kalman filtration algorithm.
11. a kind of body gait acquisition method, which is characterized in that the method includes the steps:
Several the are generated by the movement that the first sensing processing unit of several lower extremities for being set to user incudes lower limb
One sensing data；
Every one first sensing processing unit is handled the first sensing data that itself is generated by preset posture computation
Several first analyses data that obtain that treated；
Several first analysis data are received, and generate an integrated data according to several first analysis data.
12. body gait acquisition method as claimed in claim 11, which is characterized in that the method also includes steps:
Foot movement, which is incuded, by the second sensing processing unit of several bottom of the foot for being set to user generates several second
Sensing data；
The step " generating an integrated data according to several first analyses data " includes:
The integrated data is generated according to several first analysis data and several second sensing datas.
13. body gait acquisition method as claimed in claim 11, which is characterized in that the method also includes steps:
Foot movement, which is incuded, by the second sensing processing unit of several bottom of the foot for being set to user generates several second
Sensing data；
Every one second sensing processing unit is also handled second sensing data by the preset posture computation
Several second analyses data that obtain that treated；
The step " generating an integrated data according to several first analyses data " includes:
The integrated data is generated according to several first analysis data and several second analysis data.
14. the body gait acquisition method as described in claim 11-13, which is characterized in that the preset posture computation
For expanded Kalman filtration algorithm.
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