CN102722248B - Shoes are utilized to replace keyboard and mouse as the method for computer peripheral equipment and implement device - Google Patents

Abstract

The invention discloses a kind of shoes that utilize replaces keyboard and mouse as the method for computer peripheral equipment and implement device thereof, belongs to robotization, telecommunications and Computer Interface Technology field.The present invention is by the wireless sensing integration module collection that is arranged in shoes and the movable information determining shoes, then the movable information of shoes is converted to corresponding keyboard scancode or mouse mobile message and key information according to current keyboard mode or mouse mode, reaches the effect utilizing the movable information of shoes to replace keyboard or mouse.The movable information of shoes and keyboard and mouse input are set up a transformable mapping table by the present invention, as a kind of novel man-machine interactive, both can use for disabled person's computer for controlling, electronic game amusement can also be used for, complete human foot and move control to game character movement, the flexible and changeable wide accommodation of control mode.

Description

Shoes are utilized to replace keyboard and mouse as the method for computer peripheral equipment and implement device

Technical field

The present invention relates to a kind of Novel shoe based on sensor and electronic communication technology, belong to robotization, telecommunications and Computer Interface Technology field.Especially, relate to and a kind of bottom shoes, locate implanted sensor thus precise restoration goes out foot motion data, and then realize by Computer Interface Technology the method that step motion replaces keyboard and mouse movement.

Background technology

Along with the development of information science, the rise of somatosensory motion allows increasing man-machine interaction product be provided with the feature of body sense.As the 3D body sense controller mouse of Legend Company, the wii game host of Nintendo, the XBOX Kinect etc. of Microsoft.These equipment passes through the mode of built-in sensors or external camera, obtains the exercise data of human body thus realizes man-machine interaction.The wherein 3D body sense mouse beacon of Legend Company, be that one utilizes wireless communication technique, brandish action by what gather user hand, thus the wireless receiving module that will information transmission be brandished hold to PC, thus certain key-press input on replacement keyboard, the control of PC game can be carried out; Simultaneously also can induction mouse in vacant movement, realize controlling the replacement of mouse.But at shoe-making field, not yet there is the motion by human body foot, utilize the mode of wireless connections, and then replace the invention of keyboard or mouse to occur.

Summary of the invention

Present invention utilizes a kind of wireless sensing integration module that can detect human foot's movement, and by its lightweight miniaturization, be convenient to put into shoes, by wireless transport module, foot's mobile message of human body is transferred to the intelligent terminals such as PC.The smart machine data receiver of PC terminal is realized by the host computer receiver module of a USB port, host computer receiver module is inner receives human foot's mobile message by Single-chip Controlling wireless transport module, and be converted to keyboard or the mouse scan code of standard, be converted to the USB port that USB standard signal exports to PC again, trigger BIOS 09H hardware interrupts, notice PC has button to press, and then the keyboard scancode mapped in advance is delivered to the keyboard buffer of internal memory BIOS data area, thus achieve the mobile function replacing input through keyboard with shoes; In addition, for replacement mouse, Single-chip Controlling wireless transport module then can be utilized to receive human foot's mobile message, by certain logical mappings relation, foot's Mobile data on ground level is mapped as the position of mouse on screen, and the action of user's step is mapped as mousebutton, and interrupted by trigger hardware INT 33H, the position of reading mouse and the state of mousebutton.The present invention completes the function of a Wireless Keyboard and wireless mouse, and the key-press input of traditional mouse and keyboard is caused hardware interrupts, becomes the mobile of induction human foot and causes hardware interrupts, complete the function being similar to Wireless Keyboard and wireless mouse.In addition, present invention also offers a kind of based on system bottom api function, user's foot action is mapped as the method for the message such as keyboard and mouse move.

The invention provides a kind of shoes that utilize replaces keyboard and mouse as the method for computer peripheral equipment and implement device, and described implement device mainly comprises one and adopts the host computer receiver module of wireless technology and be arranged on the wireless sensing integration module that shoes (are embedded in sole in the present invention).When described wireless sensing integration module moves for gathering user foot, the exercise data of the six degree of freedom of wireless sensing integration module embedded bottom shoes, and exercise data is wirelessly transferred to host computer receiver module.Described wireless sensing integration module comprises acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU (central processing unit), wireless transport module and power supply unit based on ARM.Described host computer receiver module comprises wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface, can realize plug and play.

Described wireless sensing integration module design turns to core concept with miniaturization, light weight, adopts the ARM chip that integrated level is higher, to reduce size and the weight of wireless sensing integration module circuit board, make it embed bottom shoes easily.The present invention be designed to wireless sensing integration module and shoes detachable, detachable design is also convenient to charge to wireless sensing integration module.

The present invention includes two kinds of mode of operations, i.e. keyboard mode and mouse mode, software by PC end is arranged, initially power on the moment at equipment, by host computer, mode of operation and correlation parameter are transferred to slave computer with wireless communication mode, move to realize human foot the difference in functionality replacing keyboard and mouse input.

Wireless sensing integration module is as the nucleus module gathering user's foot action information, and it comprises following crucial submodule:

(1) based on the acceleration transducer of the Three Degree Of Freedom of three axis accelerometer; (2) based on the angular sensor of digital gyro; (3) magnetoresistive transducer; (4) based on the CPU (central processing unit) of ARM; (5) based on the signal transmitting and receiving unit of wireless communication module; (6) independently-powered can discharge and recharge power supply unit.Acceleration transducer gathers the displacement information on three axles of foot in three dimensions, angular sensor gathers the rotational angle information of shoes, magnetoresistive transducer is magnetic field intensity information locality, displacement information and geomagnetic field intensity information are after signal condition unit is nursed one's health, by the CPU (central processing unit) using ARM as core together with rotational angle information, finally the signal transmitting unit of treated Information Pull wireless transport module is sent to host computer receiver module in the mode of wireless signal.CPU (central processing unit) selects the ARM chip carrying high-precision AD collection and house dog.AD gathers and exports for the voltage obtained through the acceleration transducer unit of signal condition unit conditioning, and is reduced to acceleration information, through obtaining velocity information to an integration of time, through obtaining displacement data to the second time integration of time.House dog is used for when processor program race flies or be in deadlock state, and house dog will carry out forced resetting to processor from hardware, make processor reenter normal mode of operation.Wherein wireless sensing integration module inside is provided with ROM and identifies No. ID for No. SN, the unique identification stored when dispatching from the factory with left and right footwear, and namely the module of each block finished product is all that the different information relying on programming to enter ROM carry out distinguishing, and is similar to the sequence number that dispatches from the factory of product.

Host computer receiver module, as receive and in process shoes wireless sensing integration module send the module of information, its core is to pass through home control network communication protocol, connect with wireless sensing integration module and receive related data, and according to the mode of operation of initial runtime and running parameter, the movable information of user foot is mapped as the input of keyboard and mouse, obtain keyboard scancode or mouse mobile message and key information, and input information is converted to the USB peripheral hardware signal of standard, trigger corresponding hardware interrupts, keyboard scancode or mouse are moved the buffer zone being transferred to BIOS with key information.

A kind of shoes provided by the invention replace keyboard and mouse to comprise the following steps as the general work flow process of the method for computer peripheral equipment:

(1) open shoes power supplys, select mode of operation mouse or keyboard mode, slave computer initialization, and power on for wireless sensing integration module;

(2) opening host computer receiver module, carry out wireless search, there is wireless sensing integration module in what mate surrounding, starts MANET work.If search the equipment of protocol compliant, then automatically connect; If exceed threshold time T second (can establish), still do not search the relevant device that can mate, then automatically proceed to connection failure handling procedure; If search the slave computer wireless sensing integration module that can mate, automatically connect, realize the automatic networking of child node, and set up communication connection.

(3), after MANET success and communication are set up, host computer holds the pre-setting of software by PC, and default mode of operation is sent to slave computer; Pattern of finishing the work and running parameter arrange rear host computer and send beginning acquisition instructions to slave computer, be can move freely by the software application prompting user of host computer simultaneously;

(4) CPU (central processing unit) was resolved the data collected according to the clock period of presetting, restore displacement and angle information thereof, and as foot motion information data storing in buffer memory, be specially: acceleration transducer obtains the acceleration on three change in coordinate axis direction of shoes, is denoted as a respectively _x, a _y, a _z, utilize twice integral operation to obtain shoes local coordinate system X _by _bz _bthree displacement x axially _b, Δ y _b, Δ z _b; Utilize digital gyro, detect the rotational angle of shoes around local coordinate system axis, be denoted as θ _x, θ _y, θ _z; Utilize magnetoresistive transducer, measure shoes local coordinate system X _by _bz _bthree geomagnetic field intensities axially, are denoted as m _x, m _y, m _z.

(5) CPU (central processing unit) is based on the known method of strapdown inertial navitation system (SINS), the Δ x obtained measured by accelerometer and digital gyro _b, Δ y _b, Δ z _b, θ _x, θ _y, θ _z, calculate the position (x of shoes local coordinate system relative to world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ);

When shoes are in static or low speed easy motion, the attitude angle calculated according to accelerometer and magnetoresistive transducer is used to revise the attitude information calculated according to inertial navigation algorithm, concrete: to use 3-axis acceleration information to calculate pitching angle theta and roll angle γ; The geomagnetic field intensity information measured in conjunction with attitude angle information and magnetoresistive transducer calculates magnetic heading, and magnetic heading adds when geomagnetic declination obtains geographical course angle ψ ', obtains the position (x of final shoes _n, y _n, z _n) and revised attitude angle (θ, γ, ψ), the six-degree-of-freedomovement movement data as shoes is sent to host computer;

(6) host computer receiver module is according to the cycle of setting, the shoes movable information that the wireless transport module in timing receipt shoes sends.The mobile message of human foot is mapped as keyboard and mouse input by the single-chip microcomputer in host computer, and trigger hardware interrupts, respectively according to two kinds of mode of operations, trigger keyboard interrupt or mouse interrupts, by information transmission such as mapped keyboard scancode or mouse positions to BIOS data buffer, in order to system call;

(7) if host computer directly controls to send END instruction, then gather and stop with communication work stream, and exit this application;

(8) reselect mode of operation, proceed to step 1; Or directly quit a program and close shoes power supply.

The present invention utilizes the movable information of shoes to replace keyboard or mouse, as a kind of peripheral hardware of computing machine.Present invention employs wireless communication technique, achieve the function of Wireless Keyboard and mouse, the user that is more convenient for uses, adopt wireless module can based on bluetooth, Zigbee etc.; Also provided is and a kind ofly realize based on operating system Basic API the method that foot action maps to keyboard and mouse button, give from software view the solution replacing keyboard and mouse.Present invention achieves a kind of computer control mode of novelty, can as a kind of novel man-machine interactive, can use for disabled person's (not having hand or the handicapped people of hand) carrys out computer for controlling simultaneously, electronic game amusement can also be used for, complete human foot and move control to game character movement.In addition user can install wireless sensing integration module respectively on two pin, to expand more action, thus carries out more keyboard and mouse action mapping.

Novelty of the present invention and advantage are:

1, a kind of shoes being equivalent to the computer peripheral equipment of wireless mouse and Wireless Keyboard are devised.Propose the new method of a kind of foot action supervisory keyboard and mouse, fill up the blank in this field;

2, have employed the Computer Interface Technology of bottom, the design concept of normative reference keyboard and mouse, by single-chip microcomputer, the exercise data received is mapped as keyboard scancode or mouse mobile message, utilize hardware interrupts, the mouse and the keyboard that realize BIOS level replace, and are a kind of real computer peripheral equipments;

3, devise one mapping relations flexibly, the action of human foot and keyboard and mouse input are set up a transformable mapping table, flexible and changeable wide accommodation.In PC terminal, can directly do a mapping to body motion information and keyboard action by software, such as, human body moves forward, can be mapped as " upwards " button, also can be mapped as " W " button.Only need the setting by software, host computer being carried out to running parameter, also namely transmit a mapping table;

4, give and a kind ofly realize the mapping method of foot action to keyboard and mouse button based on operating system Basic API function, replace keyboard and mouse to input from software view, mode is more flexible;

5, as the special wireless computer peripheral hardware of the handicapped personage of hand, in order to operate computing machine, man-machine interaction can be realized;

6, the method has extensibility, and user can lay wireless sensing integration module by a pin, also can lay wireless sensing integration module by both feet simultaneously, realize more key-press input and mouse action;

7, gyroscope is adopted, accelerometer, the small-sized course attitude measurement system of magnetoresistive transducer composition, adopt based on sensor Data Fusion, the attitude angle that gyroscope calculates is revised in real time, improve the computational accuracy of attitude information, effectively reduce because of gyroscopic drift, precision is low brings attitude error;

8, the angular transducer adopted, magnetoresistive transducer, CPU (central processing unit), it is little, lightweight that each device such as wireless transport module and module have volume, low cost, the feature that power consumption is little, the exercise data for a long time under can realizing low cost condition with degree of precision is measured and resolves.

Accompanying drawing explanation

Fig. 1 is the footwear construction schematic diagram being provided with wireless sensing integration module;

Fig. 2 is local coordinate system schematic diagram on shoes;

Fig. 3 is the structural representation of wireless sensing integration module in the present invention and host computer receiver module;

Fig. 4 is the workflow diagram that wireless sensing integration module gathers movable information;

Fig. 5 is the child node networking process flow diagram in the present invention;

Fig. 6 is the collection and transmission process flow diagram of movable information in the present invention;

Fig. 7 is the hardware composition structural representation of host computer receiver module;

Fig. 8 is the graph of a relation in the present invention between shoes local coordinate system and world coordinate system;

Fig. 9 is X _mo _my _mwith world coordinate system X _no _ny _nrotation relationship figure.

Embodiment

Below in conjunction with drawings and Examples, the present invention is described in further detail.

A kind of keyboard and mouse of can replacing of the present invention is as the method for computer peripheral equipment and device, as shown in Figure 1, in described device, wireless sensing integration module 2 is provided with bottom shoes 1, described wireless sensing integration module 2 is connected based on wireless telecommunications with between host computer receiver module 3, the present invention adopts the mode of the transmitting terminal and receiving end arranging wireless transport module respectively in wireless sensing integration module 2 and host computer receiver module 3 to realize data information transfer, also respectively a wireless transport module can be respectively set in wireless sensing integration module 2 and host computer receiver module 3.Host computer receiver module 3 is directly connected with the terminal device such as PC, adopts USB port to connect in the present invention.Described wireless sensing integration module 2 communicates with host computer receiver module 3, and host computer receiver module 3 is for receiving the movable information of shoes 1.Wireless sensing integration module 2 adopts efficient arm processor chip, the solution process of foot's six-degree-of-freedomovement movement data all completes in wireless sensing integration module 2 inside, achieves higher integrated level.Described wireless sensing integration module 2 is placed in bottom shoes.

The hardware system general structure of described device realizes as shown in Figure 3, comprise wireless sensing integration module and host computer receiver module, described wireless sensing integration module: containing acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU (central processing unit), wireless transport module and power supply unit, described power supply unit is used for for acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU (central processing unit), wireless transport module are powered; Described acceleration transducer gathers shoes acceleration movement information and nurses one's health as after available signal through signal condition unit, CPU (central processing unit) is sent to together with the shoes angle information of angular transducer collection and the geomagnetic field intensity information of magnetoresistive transducer, restore the movable information of shoes under world coordinate system through resolving, and the movable information of shoes is sent to host computer receiver module through the transmitting terminal of wireless transport module; Host computer receiver module: containing the receiving end of wireless transport module or wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface, the data of transmitting terminal on wireless transport module in the receiving end reception wireless sensing integration module 2 of described wireless transport module, and by after interface conversion, be converted to the form that can transmit.

Described acceleration transducer is three axis accelerometer, adopts KXR94 accelerometer chip, and KXR94 is the three axis accelerometer that Kionix company produces.Design compensation has been carried out to the deviation that temperature and voltage fluctuation cause in this accelerometer inside, and the deviation therefore caused due to voltage and temperature is less.This device measurement range is ± 2g, and sensitivity coefficient is 560mV/g, and nonlinearity is 0.1%, and operating voltage is 2.8 ~ 3.3V; This accelerometer power consumption is very low, and quiescent current is about 1.1mA, can meet the low-power consumption requirement of global design.KXR94 tri-tunnel exports and represents X-axis output respectively, Y-axis exports, Z axis exports, and is finally gathered by the AD of the ARM of CPU (central processing unit) after being supplied to follow-up signal conditioning unit.

Described angular transducer adopts the L3G4200D numeral output gyroscope of ST company.This gyroscope has I2C/SPI digital output interface, and the data of 16 bit-rates values export, and the wide power operating voltage of 2.4V ~ 3.6V, embedded power-down and sleep pattern, high impact resistant capability, can meet the requirement of the low-power consumption anticollision of design.The ARM that the angle signal that L3G4200D obtains can directly be passed in CPU (central processing unit) uses.

Described magnetoresistive transducer is the HMC5843 of Honeywell Inc., HMC5843 is a three axle magnetoresistive transducers, has 12-bitADC, subnormal voltage operation (2.5-3.3V).HMC5843 adopts anisotropic magnetoresistive (AMR) technology of Honeywell, principal feature is axial high sensitivity and linear, muting sensitivity between solid-phase construction, Z-axis, for measuring direction and the magnetic force in magnetic field of the earth, from 100,000/a few Gauss to 6 Gausses (gauss).

Described CPU (central processing unit) is ARM7 LPC1769.This chip adopts Cortex-M3 microprocessor, dominant frequency can reach 120MHz, can meet sensor information Real-time Collection and calculate attitude information online, the requirement of displacement information, it is little that LPC1769 has volume, cost is low, low-cost feature, effectively can realize the Embedded Application of the high and low power consumption of integrated level of the present invention, low cost.LPC1769 comprises up to the data-carrier store of the flash storer of 512KB, 64KB, Ethernet interface, 8 channel DMA controller, 4 UART, 2 CAN passages, 2 SSP controllers, SPI interface, 3 IIC interfaces, 12 ADC of 8 passages, 10 DAC, Electric Machine Control PWM etc., rich interface, simple to operate.Arm processor gathers No. three accelerometer information and three road magnetoresistive transducer information by carrying AD, gyroscope information is read by SPI interface, obtain attitude information online by attitude course computation after obtaining the digital signal of all sensors, net result is sent to external unit by wireless transport module.The course of work starts to gather acceleration, angle, magnetoresistive transducer information after ARM initialization as shown in Figure 6, after collection, enter data solver, resolve the displacement for shoes by acceleration and resolve and obtain the attitude angle of shoes relative to world coordinate system, as the movable information of shoes stored in buffer zone on sheet, and shoes movable information is sent to host computer receiver module.

Wireless transport module adopts ZigBee module.ZigBee wireless communication technology is the two-way wireless communication network technology of a kind of low rate, low-power consumption, low complex degree, low cost, can be widely used in the fields such as industrial monitoring, security system, sensor network, Smart Home.The advantage of ZigBee is low-power consumption, compares bluetooth or WiFi stand-by time can improve tens times; Low cost, reduces the requirement to communication controller, and agreement patent is free; High power capacity, a host node can manage multiple child node, can reach at most 254 child nodes; In addition there is short time-delay, high safety, the advantages such as unlicensed band.Zigbee module can meet the requirement of design ap-plication.Wireless transport module comprises transmission and receives two parts, is arranged in wireless sensing integration module and host computer receiver module respectively, for data communication.

Power supply unit adopts lithium battery power supply, and adds AMS1117-3.3 as power supply voltage stabilizing chip, makes power supply unit stable output be 3.3V, can power for ARM, three axis accelerometer, digital gyro instrument and wireless transport module.AMS1117-3.3 chip input voltage scope 4.75 ~ 12V, output voltage 3.267 ~ 3.333V, output current 1A, working temperature-40 ~ 125 DEG C.Battery adopts chargeable lithium cell, operating voltage 6V, and discharge and recharge number of times can reach 500 times, even if use the service time that very frequently also can ensure at least one year.

Host computer receiver module mainly includes wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface.As shown in Figure 7.Wireless transport module is mainly used in the motion information data receiving the shoes that wireless sensing integration module sends over.And signal type conversion chip is FT232R, FT232R is USB/UART conversion chip, and its major function is the conversion realizing USB and a step Serial Data Transport Interface under internal hardware logical action.Chip internal inherits EEPROM and the multi-frequency clock generator (6MHz, 12MHz, 24MHz, 48MHz) of 1024.Power supply chip adopts AMS1117-3.3 mentioned above, provides 3.3V to export and powers for FT232R and Zigbee module.USB interface be used for terminal device as PC is connected, complete data transmit and Power supply function.

As shown in Figure 4, the workflow adopting above-mentioned wireless sensing integration module to gather exercise data can be described as:

1. opening power select mode of operation: mouse or keyboard mode of operation.

2. insert PC at host computer receiver module, and when upper computer software is opened, open wireless transmission integration module power supply; The ARM of CPU (central processing unit), accelerometer, digital gyro, magnetoresistive transducer, signal condition unit and power supply unit carry out powering on and initialization;

3. wireless transport module starts MANET work, and the networking flow process of child node as shown in Figure 5, is specially:

(A) node that need access power on electricity and initialization, after time delay, judge whether child node receives beacon frame, if do not received, then think that child node networks unsuccessfully; If received, then turn (B);

(B) monitor beacon frame and select host node;

(C) slave computer wireless transport module sends the request of networking to host computer receiver module, if slave computer receives the reply of host node, then turns (D); If slave computer does not receive host node and replys, then turn (E);

(D) distribute short address to child node, now child node networks successfully;

(E) judge whether to there is host node, if there is no host node, think that child node networks unsuccessfully, if there is host node, then return (B);

4. after networking success, host computer receiver module sends shoes data acquisition instructions, and CPU (central processing unit) starts the data gathering acceleration transducer, angular transducer, magnetoresistive transducer;

5. acceleration transducer gathers shoes acceleration movement information and nurses one's health as after available signal through signal condition unit, be sent to CPU (central processing unit) to resolve together with the shoes angle information of angular transducer collection and the geomagnetic field intensity information of magnetoresistive transducer, obtain the movable information of shoes, comprise positional information and the angle information of shoes;

6. motion information data in buffer memory is transmitted by wireless transport module, be transferred to host computer receiver module;

7. host computer receiver module receives motion information data, directly connects PC afterwards by USB.The mobile message of human foot is mapped as keyboard and mouse input by the single-chip microcomputer in host computer, and trigger hardware interrupts, respectively according to two kinds of mode of operations, trigger keyboard interrupt or mouse interrupts, by information transmission such as mapped keyboard scancode or mouse positions to BIOS data buffer, call in order to operating system.

If 8. host computer directly controls to send END instruction, then gather and stop with communication work stream, and move back this application;

9. reselect mode of operation, proceed to step 1; Or directly quit a program and close shoes power supply.

Wherein human foot's movable information resolves and adopts inertial navigation algorithm, when shoes are kept in motion, uses the turning rate of the place axis of gyroscope survey to substitute into the attitude angle calculating shoes in inertial navigation algorithm.Before calculating attitude angle, the coordinate system to using in computation process is first needed specifically to define.

1, shoes local coordinate system

Initial point is the geometric center of the attitude heading measure frame of reference (the wireless sensing integration module on shoes) that the present invention completes, x _b, y _b, z _baxle points to the transverse axis of shoes, the longitudinal axis and vertical pivot upwards respectively, as Fig. 2.

2, world coordinate system

Initial point is the initial point of shoes local coordinate system under original state, x _n, y _n, z _nthree axles refer to respectively geographical east orientation, north orientation, sky to.

Attitude angle is actually the position relation between sky, world coordinate system O-ENU northeast and shoes local coordinate system, if ψ is course angle, θ is the angle of pitch, γ is roll angle, each angle is got and is rotated counterclockwise as just around shoes local coordinate system coordinate axis, namely course angle shoes north by west is just, it is just that angle of pitch shoes come back, and is just downwards on the right side of roll angle shoes.World coordinate system is around z _naxle turns ψ angle, around x _naxle turns θ angle, then around y _nshaft angle γ, then relation between shoes local coordinate system and world coordinate system as shown in Figure 8.

After completing the definition of transformational relation between the definition of coordinate system and coordinate system, inertial navigation algorithm can be used to utilize gyroscope survey place axial-rotation angular speed real-time update attitude matrix, calculate attitude angle, the present invention uses Quaternion Method to upgrade attitude matrix, and adopts Fourth order Runge-Kutta to resolve the differential equation.Concrete process of solution is as follows:

1, attitude matrix is determined

Angular transformation relation by between world coordinate system and shoes local coordinate system: course Yaw (ψ)-pitching Pitch (θ)-roll Roll (γ), can obtain attitude transition matrix:

$C_n^b=\left(\begin{array}{ccc}\cos \mathrm{\γ}& 0& -\sin \mathrm{\γ}\\ 0& 1& 0\\ \sin \mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right)\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\θ}& \sin \mathrm{\θ}\\ 0& -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right)\left(\begin{array}{ccc}\cos \mathrm{\ψ}& \sin \mathrm{\ψ}& 0\\ -\sin \mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right)$

$=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\ψ}-\sin \mathrm{\γ}\sin \mathrm{\θ}\sin \mathrm{\ψ}& \cos \mathrm{\γ}\sin \mathrm{\ψ}+\sin \mathrm{\γ}\sin \mathrm{\θ}\cos \mathrm{\ψ}& -\sin \mathrm{\γ}\cos \mathrm{\θ}\\ -\cos \mathrm{\θ}\sin \mathrm{\ψ}& \cos \mathrm{\θ}\cos \mathrm{\ψ}& \sin \mathrm{\θ}\\ \sin \mathrm{\γ}\cos \mathrm{\ψ}+\cos \mathrm{\γ}\sin \mathrm{\θ}\sin \mathrm{\ψ}& \sin \mathrm{\γ}\sin \mathrm{\ψ}-\cos \mathrm{\γ}\sin \mathrm{\θ}\cos \mathrm{\ψ}& \cos \mathrm{\γ}\cos \mathrm{\θ}\end{array}\right)$

2, hypercomplex number is used to represent attitude matrix

$C_n^b=\left(\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2{q}_3+q_0{q}_1)\\ 2(q_1{q}_3+q_0{q}_2)& 2(q_2{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right)=\left(\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right)$

Herein, q ₀, q ₁, q ₂, q ₃represent hypercomplex number.

3, quaternion differential equation is upgraded

Fourth order Runge-Kutta solution quaternion differential equation is used to upgrade hypercomplex number:

$\left\{\begin{array}{c}\stackrel{\·}{X}\left(t\right)=f[X\left(t\right),\mathrm{\ω}\left(t\right)]\\ X(t+T)=X\left(t\right)+\frac{1}{6}(k_1+2k_2+2k_3+k_4)\\ k_1=\mathrm{Tf}\left[\right(x\left(t\right),\mathrm{\ω}\left(t\right)]\\ k_2=\mathrm{Tf}\left[\right(x\left(t\right)+\frac{k_1}{2},\mathrm{\ω}(t+\frac{T}{2})]\\ k_3=\mathrm{Tf}[x\left(t\right)+\frac{k_2}{2},\mathrm{\ω}(t+\frac{T}{2})]\\ k_4=\mathrm{Tf}[x\left(t\right)+k_3,\mathrm{\ω}(t+T)]\end{array}\right.$

$\left[\begin{array}{c}{\stackrel{\·}{q}}_0\\ {\stackrel{\·}{q}}_1\\ {\stackrel{\·}{q}}_2\\ {\stackrel{\·}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& -{\mathrm{\ω}}_{\mathrm{nbx}}^b& -{\mathrm{\ω}}_{\mathrm{nby}}^b& -{\mathrm{\ω}}_{\mathrm{nbz}}^b\\ {\mathrm{\ω}}_{\mathrm{nbx}}^b& 0& {\mathrm{\ω}}_{\mathrm{nbz}}^b& -{\mathrm{\ω}}_{\mathrm{nby}}^b\\ {\mathrm{\ω}}_{\mathrm{nby}}^b& -{\mathrm{\ω}}_{\mathrm{nbz}}^b& 0& {\mathrm{\ω}}_{\mathrm{nbx}}^b\\ {\mathrm{\ω}}_{\mathrm{nbz}}^b& {\mathrm{\ω}}_{\mathrm{nby}}^b& -{\mathrm{\ω}}_{\mathrm{nbx}}^b& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]$

Wherein, attitude speed the gyroscope precision used due to the present invention is lower, and numerical value is less, therefore directly gets when calculating attitude speed f [] represents the differential equation, and T represents material calculation, k ₁, k ₂, k ₃, k represents single step result of calculation.In concrete calculating, x (t) is hypercomplex number, ω (t), ω (t+T) is t, the turning rate in t+T moment.

In above-mentioned, be gyrostatic output; for terrestrial coordinate system is relative to the projection of angle of rotation speed in navigational coordinate system of inertial coordinates system; for the projection that the angular speed of navigational coordinate system relatively spherical coordinate system is fastened at navigation coordinate; for carrier coordinate system is relative to the projection of angular speed in carrier coordinate system of navigational coordinate system.

4, the asking for of attitude angle

Upgrade attitude matrix by the hypercomplex number after upgrading, be calculated as follows out course angle ψ, pitching angle theta and roll angle γ.

θ＝sin ^-1(C ₂₃) $\mathrm{\γ}={\tan }^{-1}(-\frac{C_{13}}{C_{33}})$ $\mathrm{\ψ}={\tan }^{-1}(-\frac{C_{21}}{C_{22}})$

The MEMS gyro instrument precision used due to native system is low, drift is large, according to the attitude angle that inertial navigation algorithm calculates, only there is high precision in short-term, attitude error can constantly accumulate, cannot work long hours, therefore need to use the method merged based on inertial data to revise attitude angle, reduce the accumulation of error.Consider when the steady low-speed motion of shoes, ignore Corioli's acceleration and other disturbing accelerations, think and only have acceleration of gravity to act on shoes, namely meet following formula condition:

$|\sqrt{g_x^2+g_y^2+g_z^2}-g|<\mathrm{threshold}$

Wherein, g _x, g _y, g _zbe respectively accelerometer output in three axial directions, g is terrestrial gravitation acceleration, and threshold is default threshold value, is generally 0.2 ~ 0.5m/s ².

Now, accelerometer output valve is used to calculate shoes local coordinate system relative to the pitching angle theta of world coordinate system and roll angle γ, and calculating magnetic heading under the geomagnetic field intensity measured under shoes local coordinate system being projected to world coordinate system according to the attitude cosine matrix that the angle of pitch and roll angle are determined, magnetic heading can obtain geographical course after revising when geomagnetic declination.Therefore when shoes remain static or low speed plateau namely meets above-mentioned condition, use accelerometer and magnetoresistive transducer information calculate attitude and do not use the turning rate of gyroscope survey to calculate attitude angle, can effectively improve attitude angle computational accuracy like this and the attitude angle that inertial navigation algorithm calculates better is revised.Concrete computation process is as follows:

Because

$\stackrel{\&RightArrow;}{f^b}=C_n^b\stackrel{\&RightArrow;}{f^n}$

And

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

$\left[\begin{array}{c}{f}_x^b\\ f_y^b\\ f_z^b\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -g\end{array}\right]$

Then

$f_x^b=g\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;},$ $f_y^b=-g\sin \mathrm{\&theta;},$ $f_z^b=-g\cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}$

The angle of pitch can be obtained thus and roll angle is respectively

$\mathrm{\&theta;}={\sin }^{-1}(-\frac{f_y^b}{g})$

$\mathrm{\&gamma;}={\tan }^{-1}(-\frac{f_x^b}{f_z^b})$

The attitude cosine matrix now determined by the angle of pitch and roll angle is:

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}& -\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right],$

for orthogonal matrix, therefore

Calculating magnetic heading angle formula is:

$\left\{\begin{array}{c}\left[\begin{array}{c}{m}_E\\ m_N\\ m_U\end{array}\right]=C_b^n\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\mathrm{cos\&gamma;}& 0& \sin \mathrm{\&gamma;}\\ \sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]\\ \stackrel{\&OverBar;}{\mathrm{\&psi;}}=\arctan \frac{m_E}{m_N}=\arctan \frac{\left(\cos \mathrm{\&gamma;}\right)m_x+\left(\sin \mathrm{\&gamma;}\right)m_z}{\left(\sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}\right)m_x+\left(\cos \mathrm{\&theta;}\right)m_y-\left(\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\right)m_z}\end{array}\right.$

True heading angle is:

In formula, m _x, m _y, m _zbe respectively magnetoresistive transducer in racket local coordinate system three output axially, m _e, m _n, m _zbe respectively racket east orientation in world coordinate system, north orientation, sky to projection. for magnetic heading, α is for work as geomagnetic declination, and ψ is true heading angle.

The acceleration being displaced through three axles obtaining shoes local coordinate system measured by accelerometer of shoes restores displacement through twice integration:

Acceleration information a _x, a _y, a _z, first carry out integral operation, obtain the speed v along shoes local coordinate system three axis _x, v _y, v _z, and then carry out integral operation, the time of calculating is in the cycle of Δ t, and user is relative to the displacement x of shoes local coordinate system three axles _b, Δ y _b, Δ z _b.Specific formula for calculation is as follows:

$\mathrm{\&Delta;}{x}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_x\mathrm{dt},$ $\mathrm{\&Delta;}{y}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_y\mathrm{dt},$ $\mathrm{\&Delta;}{z}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_z\mathrm{dt}$

According to the above-mentioned attitude angle calculated, then both can by the relative displacement Δ x of user at local coordinate system _b, Δ y _b, Δ z _b, project in world coordinate system, obtain the relative displacement x of user under world coordinate system _n, Δ y _n, Δ z _n.

Both can obtain shoes six degree of freedom data by continuous accumulation calculating, namely the exercise data cocoa of human foot is expressed as the position coordinates (x under world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ).

In the present invention, the replacement for keyboard can utilize mapping techniques to realize, and namely presets the mapping table of a human motion and keyboard scancode.By the human foot's position coordinates (x calculated _n, y _n, z _n) and the conversion of attitude angle (θ, γ, ψ), be mapped as different key scan codes.Then utilize the CPU (central processing unit) of host computer, namely single-chip microcomputer sends keyboard interrupt and corresponding scan code to main frame.Be implemented as follows:

Arrange the computation period Tc=k moment (namely kth time calculates human foot's displacement and attitude), the foot motion information of human body is D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k); Then the corresponding Tc=k+1 moment, the foot motion information of human body is D _k+1(x _k+1, y _k+1, z _k+1, θ _k+1, γ _k+1, ψ _k+1).

The typical action of human foot has, forward, backward, left, to the right, and to left front, to right front, to left back, to the movement in right back eight directions; And jump, turn left, turn right.The present invention, for these 11 actions, provides a mapping mode, and it can be diversified that the action in practical application maps.

First, for D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k) and D _k+1(x _k+1, y _k+1, z _k+1, θ _k+1, γ _k+1, ψ _k+1) analyze, under obtaining user's current pose, under namely current course angle ψ, the mobile message of the foot of user.Namely forward or backward etc. on earth.For the ease of computer for controlling, and remove noise, we arrange a threshold value DifPos=0.05 m, and we just assert that user moves more than DifPos to only have user moving range; In like manner for attitude, we arrange a threshold value DifAtt=20 degree, and only more than 20 degree, we just think that user have rotated health.Wherein concrete threshold value can be concrete according to different application amendment.Reference threshold, can obtain the mobile message of user along current course, obtain the action that user is concrete, 11 actions as described above.

Provide two kinds of typical mapping tables for 11 actions in the present embodiment, and provide keyboard scancode, in practical application, the concrete action of user can be diversified.

Table 1 mapping table 1

Sequence number	Human foot's action	Keyboard	Key position	Sixteen bit maps scan code
					1	Move forward	↑	72	48
2	Move backward	→	80	50
					3	Be moved to the left	←	75	4B
4	Move right	→	77	4D
					5	Mobile left	W	17	11
6	To left back movement	A	30	1E
					7	Mobile to the right	S	31	1F
8	To right back movement	D	32	20
					9	Turn left	Enter	28	1C
10	Turn right	Space	57	39
					11	Capriole	ESC	1	01

Table 2 mapping table 2

Sequence number	Human foot's action	Keyboard	Key position	Sixteen bit maps scan code
					1	Move forward	8	9	09
2	Move backward	2	3	03
					3	Be moved to the left	4	5	05
4	Move right	6	7	07
					5	Mobile left	7	8	08
6	To left back movement	1	2	02
					7	Mobile to the right	9	10	0A
8	To right back movement	3	4	04
					9	Turn left	5	6	06
10	Turn right	0	11	0B
					11	Capriole	Enter	28	1C

Single-chip microcomputer in host computer, by mapping relations, action user done, is identified as the input scan code of keyboard, scan code is converted to ASCII character, and low byte is ASCII character, and high byte is system scan code.And ASCII character and scan code are sent to system bios buffer zone, call for operating system, thus realize the input function of keyboard.

In the present invention, the locomotive function for mouse replaces being directly utilize user's relative movement to realize.Specific as follows:

For D _k(x _k, y _k, z _k, θ _k, γ _k, ψ _k) and D _k+1(x _k+1, y _k+1, z _k+1, θ _k+1, γ _k+1, ψ _k+1) obtain user's current pose under, the mobile message of the foot of user.By user along the movement under ground level XOY plane, map directly in computer-internal screen coordinate system.Concrete methods of realizing the present invention designs as follows:

Start mouse function time, when chip system initialization, can calculate user towards direction, namely initial heading ψ ₀; The resolution of board display is sent to host computer receiver as one of initiation parameter by pc client, stored in single-chip microcomputer RAM, and such as screen width Width=1024 pixel, height H eight=768 pixel; And using engineer's scale parameter Scale as parameter transmission to host computer receiver, such as, here by Scale=0.05, look like for moving 0.05 meter when user foot, under being equivalent to screen coordinate system, mouse moves a pixel.

As shown in Figure 9, a two-dimensional coordinate system X on ground level is set up _mo _my _m, as the coordinate of foot's movement under mouse mode.For the ease of user's mouse beacon, the present invention sets user in the Tc=0 moment in system initialization moment, and its course angle under world coordinate system is ψ ₀direction, be exactly Y _maxle forward, direction is X to the right _maxle forward; Initialization system initial runtime in addition, user position is two-dimensional coordinate system X _mo _my _m(Width/2, Height/2) place, Width is screen width, unit picture element, Height is the height of screen, unit picture element, corresponding physical meaning is the central point of the current position of user's pin just in time corresponding computer screen, is also the operation and controlling mouse for the ease of user's later stage.Wherein, X _mo _my _mwith world coordinate system X _no _ny _nrotation relationship as shown in Figure 9.

By above-mentioned inertial navigation system resolve obtain foot's movement data for D _k(x _k, y _k, z θ _k, γ _k, ψ _kand D _k+1(x _k+1, y _k+1, z _k+1, θ _k+1, γ _k+1, ψ _k+1) can calculate, user relative under world coordinates, at X _no _ny _ndisplacement (Δ x on face _n, Δ y _n), then according to 2D rotation of coordinate formula, can X be obtained _mo _my _mdisplacement (Δ x under plane _m, Δ y _m), computation process is as follows:

$\left[\begin{array}{c}\mathrm{\&Delta;}{x}_m\\ \mathrm{\&Delta;}{y}_m\end{array}\right]=\left[\begin{array}{cc}\cos {\mathrm{\&psi;}}_0& \sin {\mathrm{\&psi;}}_0\\ -\sin {\mathrm{\&psi;}}_0& \cos {\mathrm{\&psi;}}_0\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;}{x}_n\\ \mathrm{\&Delta;}{y}_n\end{array}\right]$

Wherein under Fig. 9 two-dimensional coordinate system, the positive and negative definition of angle also follows the right-hand rule.

Obtain (Δ x _m, Δ y _m) unit is rice, then according to engineer's scale parameter Scale, can convert and obtain the pixel count of corresponding computer screen mouse movement, here pixel count can not be decimal, then directly fractions omitted part round numbers.

Due to calculate screen coordinate tie up to Windows system under be left-handed system, use X here _pco _pcy _pcrepresent, it is defined as the screen upper left corner is initial point, is to the right X-axis positive dirction, is Y-axis positive dirction downwards.Therefore in order to allow user's mouse beacon more intuitively, also in order to allow user keep, to original operation sense of mouse, also will doing the conversion of a coordinate here, then physical location [the x of Tc=k+1 moment and current mouse _pc(k+1), y _pc(k+1)] should be:

$x_{\mathrm{pc}}(k+1)=x_{\mathrm{pc}}\left(k\right)+\frac{\mathrm{\&Delta;}{x}_m}{\mathrm{Scale}}$

$y_{\mathrm{pc}}(k+1)=y_{\mathrm{pc}}\left(k\right)-\frac{\mathrm{\&Delta;}{y}_m}{\mathrm{Scale}}$

The k=0 moment, can by actual needs, specifying a position as the initial position of mouse control, such as, is originally that namely initial time cursor of mouse position is set to using the initial position of screen center as mouse in example also can pass through system level call, inquiry obtains the position of active user at the moment system cursor place of startup shoe mouse controlling functions, if this moment system mouse position is [x _pc(0), y _pc(0)], the position [x in the Tc=k+1 moment that recurrence calculation obtains mouse is got final product _s(k+1), y _s(k+1)].

Single-chip microcomputer in host computer, transmits USB port by mouse positional data, triggers INT 33H hardware interrupts, the position data of mouse is read system buffer; For mousebutton, the foot action of user can be mapped as left button or right button, concrete action can be determined by practical application, after triggering this action, the position 0 of register BX can be set to 1, namely represent left mouse button pressing, 1 position of BX is 1, namely represents right mouse button pressing.

In addition for the handicapped personage of hand, Scale can be regulated to suitable value, by a suitable region, be such as sitting in foot's moving area of the previous 30cm*30cm of computer, be mapped as whole computer screen, control and button to realize the mobile of mouse so that user moves both feet.

The mapping of the human foot's action in the embodiment in the present invention and keyboard, mouse movement, is flexible and changeable in actual applications, is not limited to the mapping mode in embodiment.

Except aforesaid way, can also by the action of human body step, the mode inputted by simulation system, by the input of received human action in order to the keyboard and mouse that are mapped as computing machine.Be input as example to replace windows platform Plays mouse-keyboard in the present embodiment, it is implemented as:

Be example by aforesaid table 1, if detected the corresponding action of human body, and set up the mapping table of execution and keyboard.Based on Windows api function, by keyboard scancode (also or virtual key value and ASCII character) the simulation system Keyboard Message mapped, or mousebutton message, directly send.The Windows API adopted can be institute's array function in table 3:

Table 3 can be used as the Windows API list of simulating keyboard mouse event

Based on above system function, under can windows platform being completed, the function of simulating keyboard mouse input, such as can develop a dummy keyboard software, for directly obtaining the movable information of shoes, being moved by the foot of user, realizing the button of keyboard, for input characters, play computer game etc.Especially, can be hand deformed man scholar, the input mode of the simulating keyboard mouse on a kind of software view is provided, realize typewriting, Edit Text, the functions such as amusement.

Above-described embodiment is only for illustration of the present invention, and wherein the structure, connected mode etc. of each parts all can change, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.

Claims (5)

1. one kind utilizes shoes to replace keyboard and mouse as the method for computer peripheral equipment, it is characterized in that: described method is first by the wireless sensing integration module collection that is arranged in shoes and the movable information determining shoes, then by wireless transport module, the movable information of shoes is sent to host computer receiver module, host computer receiver module directly connects PC by USB, in host computer receiver module or PC, the movable information of shoes is converted to corresponding keyboard scancode or mouse mobile message and key information according to current keyboard mode or mouse mode, reach the effect utilizing the movable information of shoes to replace keyboard or mouse, the movable information of described shoes comprises change in displacement and the attitude angle change information of shoes,

Position and the attitude angle of determining shoes are realized by the CPU (central processing unit) based on ARM in wireless sensing integration module, according to the information that accelerometer in strapdown inertial navitation system (SINS) and digital gyro are measured, calculate shoes local coordinate system relative to the position of world coordinate system and attitude angle; Before calculating attitude angle, the coordinate system to using in computation process is first needed specifically to define;

(1) shoes local coordinate system;

Initial point is the geometric center of attitude heading measure frame of reference, x _b, y _b, z _baxle points to the transverse axis of shoes, the longitudinal axis and vertical pivot upwards respectively;

(2) world coordinate system;

The initial point of world coordinate system is the initial point of shoes local coordinate system under original state, x _n, y _n, z _nthree axles refer to respectively geographical east orientation, north orientation, sky to;

Attitude angle is actually the position relation between world coordinate system and shoes local coordinate system, if ψ is course angle, θ is the angle of pitch, γ is roll angle, each angle is got and is rotated counterclockwise as just around shoes local coordinate system coordinate axis, namely course angle shoes north by west is just, it is just that angle of pitch shoes come back, and is just downwards on the right side of roll angle shoes; World coordinate system is around z _naxle turns ψ angle, around x _naxle turns θ angle, then around y _nshaft angle γ, then obtain the relation between shoes local coordinate system and world coordinate system;

(3) attitude transition matrix is determined;

Angular transformation relation by between world coordinate system and shoes local coordinate system: course angle ψ-pitching angle theta-roll angle γ, obtains attitude transition matrix:

$\begin{array}{c}{C}_n^b=\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right)\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right)\left(\begin{array}{ccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0\\ -\sin \mathrm{\&psi;}& \cos \mathrm{\&psi;}& 0\\ 0& 0& 1\end{array}\right)\\ =\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right)\end{array}$

(4) hypercomplex number is used to represent attitude transition matrix;

$C_n^b=\left(\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2{q}_3+q_0{q}_1)\\ 2(q_1{q}_3+q_0{q}_2)& 2(q_{2_{}}{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right)=\left(\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right)$

Herein, q ₀, q ₁, q ₂, q ₃represent hypercomplex number;

(5) quaternion differential equation is upgraded;

Fourth order Runge-Kutta solution quaternion differential equation is used to upgrade hypercomplex number:

$\left\{\begin{array}{c}\stackrel{.}{x}\left(t\right)=f[x\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ x(t+T)=x\left(t\right)+\frac{1}{6}(k_1+2k_2+2k_3+k_4)\\ k_1=\mathrm{Tf}[x\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ k_2=\mathrm{Tf}[x\left(t\right)+\frac{k_1}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ k_3=\mathrm{Tf}[x\left(t\right)+\frac{k_2}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ k_4=\mathrm{Tf}[x\left(t\right)+k_3,\mathrm{\&omega;}(t+T)]\end{array}\right.$

$\left[\begin{array}{c}{\stackrel{.}{q}}_0\\ {\stackrel{.}{q}}_1\\ {\stackrel{.}{q}}_2\\ {\stackrel{.}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbx}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]$

Wherein, attitude speed directly get when calculating attitude speed f [] represents the differential equation, and T represents material calculation, k ₁, k ₂, k ₃, k ₄represent single step result of calculation; In concrete calculating, x (t) is hypercomplex number, for the turning rate in moment;

In above-mentioned, be gyrostatic output; for terrestrial coordinate system is relative to the projection of angle of rotation speed in navigational coordinate system of inertial coordinates system; for the projection that the angular speed of navigational coordinate system relatively spherical coordinate system is fastened at navigation coordinate; for carrier coordinate system is relative to the projection of angular speed in carrier coordinate system of navigational coordinate system;

(6) the asking for of attitude angle;

Upgrade attitude transition matrix by the hypercomplex number after upgrading, be calculated as follows out course angle ψ, pitching angle theta and roll angle γ:

$\begin{array}{ccc}\mathrm{\&theta;}={\sin }^{-1}\left(C_{23}\right)& \mathrm{\&gamma;}={\tan }^{-1}(-\frac{C_{13}}{C_{33}})& \mathrm{\&psi;}={\tan }^{-1}(-\frac{C_{21}}{C_{22}})\end{array};$

The acceleration being displaced through three axles obtaining shoes local coordinate system measured by accelerometer of shoes restores displacement through twice integration:

Acceleration information a _x, a _y, a _z, first carry out integral operation, obtain the speed v along shoes local coordinate system three axis _x, v _y, v _z, and then carry out integral operation, the time of calculating is in the cycle of Δ t, and user is relative to the displacement x of shoes local coordinate system three axles _b, Δ y _b, Δ z _b, specific formula for calculation is as follows:

$\mathrm{\&Delta;}{x}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_x\mathrm{dt},{\mathrm{\&Delta;y}}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_y\mathrm{dt},{\mathrm{\&Delta;z}}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_z\mathrm{dt}$

According to the above-mentioned attitude angle calculated, then can by the relative displacement Δ x of user at local coordinate system _b, Δ y _b, Δ z _b, project in world coordinate system, obtain the relative displacement Δ x of user under world coordinate system _n, Δ y _n, Δ z _n;

Namely obtain shoes six degree of freedom data by continuous accumulation calculating, namely the exercise data of human foot is expressed as the position coordinates (x under world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ);

When shoes are in static or low speed easy motion, use the attitude angle calculated according to accelerometer and magnetoresistive transducer to revise the attitude information calculated according to inertial navigation algorithm, be specially: use 3-axis acceleration information to calculate pitching angle theta and roll angle γ; The geomagnetic field intensity information measured in conjunction with attitude angle information and magnetoresistive transducer calculates magnetic heading, and magnetic heading adds when geomagnetic declination obtains geographical course angle ψ ', obtains the position (x of final shoes _n, y _n, z _n) and revised attitude angle (θ, γ, ψ), the six-degree-of-freedomovement movement data as shoes is sent to host computer, and concrete computation process is as follows:

Because

And

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

$\left[\begin{array}{c}{f}_x^b\\ f_y^b\\ f_z^b\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -g\end{array}\right]$

Then

$f_x^b=g\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;},f_y^b=-g\sin \mathrm{\&theta;},f_z^b=-g\cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}$

Thus the angle of pitch and roll angle are respectively

$\mathrm{\&theta;}={\sin }^{-1}(-\frac{f_y^b}{g})$

$\mathrm{\&gamma;}={\tan }^{-1}(-\frac{f_x^b}{f_z^b})$

The attitude cosine matrix now determined by the angle of pitch and roll angle is:

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}& -\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right],$

for orthogonal matrix, therefore $C_b^n={\left(C_n^b\right)}^T;$

Calculating magnetic heading angle formula is:

$\left\{\begin{array}{c}\left[\begin{array}{c}{m}_E\\ {m_N}_{}\\ m_U\end{array}\right]=C_b^n\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& \sin \mathrm{\&gamma;}\\ \sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]\\ \stackrel{\&OverBar;}{\mathrm{\&psi;}}=\arctan \frac{m_E}{m_N}=\arctan \frac{\left(\cos \mathrm{\&gamma;}\right)m_x+\left(\sin \mathrm{\&gamma;}\right)m_z}{\left(\sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}\right)m_x+\left(\cos \mathrm{\&theta;}\right)m_y-\left(\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\right)m_z}\end{array}\right.$

True heading angle is: $\mathrm{\&psi;}=\stackrel{\&OverBar;}{\mathrm{\&psi;}}+\mathrm{\&alpha;}$

In formula, m _x, m _y, m _zbe respectively magnetoresistive transducer in shoes local coordinate system three output axially, m _e, m _n, m _zbe respectively racket east orientation in world coordinate system, north orientation, sky to projection, for magnetic heading, α is for work as geomagnetic declination, and ψ is true heading angle.

2. a kind of shoes that utilize according to claim 1 replace keyboard and mouse as the method for computer peripheral equipment, it is characterized in that: the specific works process of described host computer receiver module is: the movable information of shoes is mapped as keyboard or mouse input by mapping table by the single-chip microcomputer in host computer receiver module, obtain keyboard scancode or mouse mobile message and key information, and input information is converted to the USB peripheral hardware signal of standard, trigger corresponding hardware interrupts, keyboard scancode or mouse are moved the buffer zone being transferred to BIOS with key information, in order to system call.

3. a kind of shoes that utilize according to claim 1 and 2 replace keyboard and mouse as the method for computer peripheral equipment, it is characterized in that: after described PC receives the movable information of host computer receiver module, based on mapping table and Windows api function, collected movable information is mapped as keyboard scancode or virtual key value, or be mapped as mousebutton message, simulation system inputs, and realizes shoes movable information and is mapped as keyboard and mouse mobile messaging.

4. one kind utilizes shoes to replace keyboard and mouse as the device of computer peripheral equipment, it is characterized in that: described device comprises the wireless sensing integration module be arranged on shoes and the host computer receiver module being arranged on PC terminal, is realized the transmission of movable information between described wireless sensing integration module and host computer receiver module by wireless transmission method; Described wireless sensing integration module comprises acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU (central processing unit), wireless transport module and power supply unit, and described power supply unit is used for powering for acceleration transducer, angular transducer, magnetoresistive transducer, signal condition unit, CPU (central processing unit) and wireless transport module; Described acceleration transducer gathers shoes acceleration movement information, nurse one's health as after available signal through signal condition unit together with the geomagnetic field intensity information of magnetoresistive transducer, CPU (central processing unit) is sent to together with the shoes angle information of angular transducer collection, central processor unit adopts the chip based on ARM, above-mentioned acceleration, angular velocity and geomagnetic field intensity information are resolved, restore the movable information of shoes under world coordinate system, and the movable information of shoes is sent to host computer receiver module through the transmitting terminal of wireless transport module; Host computer receiver module mainly comprises wireless transport module, single-chip microcomputer, USB/UART interface conversion chip, power supply chip and USB interface, described wireless transport module is for receiving the movable information of wireless sensing integration module, and by after the conversion of USB/UART interface conversion chip, become the form that can transmit, USB interface is for connecting PC terminal; Described power supply chip is used for providing stabilized power source for wireless transport module, USB/UART interface conversion chip and USB interface;

Wherein, the movable information of human foot or shoes resolves and adopts inertial navigation algorithm, when shoes are kept in motion, uses the turning rate of the place axis of gyroscope survey to substitute into the attitude angle calculating shoes in inertial navigation algorithm; Before calculating attitude angle, the coordinate system to using in computation process is first needed specifically to define;

(1) shoes local coordinate system;

Initial point is the geometric center of attitude heading measure frame of reference, x _b, y _b, z _baxle points to the transverse axis of shoes, the longitudinal axis and vertical pivot upwards respectively;

(2) world coordinate system;

The initial point of world coordinate system is the initial point of shoes local coordinate system under original state, x _n, y _n, z _nthree axles refer to respectively geographical east orientation, north orientation, sky to;

Attitude angle is actually the position relation between world coordinate system and shoes local coordinate system, if ψ is course angle, θ is the angle of pitch, γ is roll angle, each angle is got and is rotated counterclockwise as just around shoes local coordinate system coordinate axis, namely course angle shoes north by west is just, it is just that angle of pitch shoes come back, and is just downwards on the right side of roll angle shoes; World coordinate system is around z _naxle turns ψ angle, around x _naxle turns θ angle, then around y _nshaft angle γ, then obtain the relation between shoes local coordinate system and world coordinate system;

Use Quaternion Method to upgrade attitude transition matrix, and adopt Fourth order Runge-Kutta to resolve the differential equation, concrete process of solution is as follows:

(1) attitude transition matrix, is determined;

Angular transformation relation by between world coordinate system and shoes local coordinate system: course angle ψ-pitching angle theta-roll angle γ, obtains attitude transition matrix:

$\begin{array}{c}{C}_n^b=\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right)\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right)\left(\begin{array}{ccc}\cos \mathrm{\&psi;}& \sin \mathrm{\&psi;}& 0\\ -\sin \mathrm{\&psi;}& \cos \mathrm{\&psi;}& 0\\ 0& 0& 1\end{array}\right)\\ =\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right)\end{array}$

(2), hypercomplex number is used to represent attitude transition matrix:

$C_n^b=\left(\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2{q}_3+q_0{q}_1)\\ 2(q_1{q}_3+q_0{q}_2)& 2(q_{2_{}}{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right)=\left(\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right)$

Herein, q ₀, q ₁, q ₂, q ₃represent hypercomplex number;

(3), quaternion differential equation is upgraded:

Fourth order Runge-Kutta solution quaternion differential equation is used to upgrade hypercomplex number:

$\left\{\begin{array}{c}\stackrel{.}{x}\left(t\right)=f[x\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ x(t+T)=x\left(t\right)+\frac{1}{6}(k_1+2k_2+2k_3+k_4)\\ k_1=\mathrm{Tf}[x\left(t\right),\mathrm{\&omega;}\left(t\right)]\\ k_2=\mathrm{Tf}[x\left(t\right)+\frac{k_1}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ k_3=\mathrm{Tf}[x\left(t\right)+\frac{k_2}{2},\mathrm{\&omega;}(t+\frac{T}{2})]\\ k_4=\mathrm{Tf}[x\left(t\right)+k_3,\mathrm{\&omega;}(t+T)]\end{array}\right.$

$\left[\begin{array}{c}{\stackrel{.}{q}}_0\\ {\stackrel{.}{q}}_1\\ {\stackrel{.}{q}}_2\\ {\stackrel{.}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& -{\mathrm{\&omega;}}_{\mathrm{nby}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbz}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbx}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& {\mathrm{\&omega;}}_{\mathrm{nby}}^b& -{\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]$

Wherein, attitude speed get f [] represents the differential equation, and T represents material calculation, k ₁, k ₂, k ₃, k ₄represent single step result of calculation, in concrete calculating, x (t) is hypercomplex number, for the turning rate in moment;

In above-mentioned, be gyrostatic output; for terrestrial coordinate system is relative to the projection of angle of rotation speed in navigational coordinate system of inertial coordinates system; for the projection that the angular speed of navigational coordinate system relatively spherical coordinate system is fastened at navigation coordinate; for carrier coordinate system is relative to the projection of angular speed in carrier coordinate system of navigational coordinate system;

(4), the asking for of attitude angle:

Upgrade attitude transition matrix by the hypercomplex number after upgrading, be calculated as follows out course angle ψ, pitching angle theta and roll angle γ:

$\begin{array}{ccc}\mathrm{\&theta;}={\sin }^{-1}\left(C_{23}\right)& \mathrm{\&gamma;}={\tan }^{-1}(-\frac{C_{13}}{C_{33}})& \mathrm{\&psi;}={\tan }^{-1}(-\frac{C_{21}}{C_{22}})\end{array};$

Use the method merged based on inertial data to revise attitude angle, when the steady low-speed motion of shoes, ignore Corioli's acceleration and other disturbing accelerations, think and only have acceleration of gravity to act on shoes, namely meet following formula condition:

$|\sqrt{g_x^2+g_y^2+g_z^2}-g|<\mathrm{threshold}$

Wherein, g _x, g _y, g _zbe respectively accelerometer output in three axial directions, g is terrestrial gravitation acceleration, and threshold is default threshold value, is 0.2 ~ 0.5m/s ²;

Now, accelerometer output valve is used to calculate shoes local coordinate system relative to the pitching angle theta of world coordinate system and roll angle γ, and calculating magnetic heading under the geomagnetic field intensity measured under shoes local coordinate system being projected to world coordinate system according to the attitude cosine matrix that the angle of pitch and roll angle are determined, namely magnetic heading obtains geographical course after revising when geomagnetic declination; Therefore when shoes remain static or low speed plateau namely meets above-mentioned condition, use accelerometer and magnetoresistive transducer information calculate attitude and do not use the turning rate of gyroscope survey to calculate attitude angle, so effectively improve attitude angle computational accuracy and the attitude angle that inertial navigation algorithm calculates better is revised; Concrete computation process is as follows:

Because

And

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]$

$\left[\begin{array}{c}{f}_x^b\\ f_y^b\\ f_z^b\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&psi;}-\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&psi;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ -\cos \mathrm{\&theta;}\sin \mathrm{\&psi;}& \cos \mathrm{\&theta;}\cos \mathrm{\&psi;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&psi;}+\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&psi;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}0\\ 0\\ -g\end{array}\right]$

Then

$f_x^b=g\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;},f_y^b=-g\sin \mathrm{\&theta;},f_z^b=-g\cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}$

Thus the angle of pitch and roll angle are respectively:

$\mathrm{\&theta;}={\sin }^{-1}(-\frac{f_y^b}{g})$

$\mathrm{\&gamma;}={\tan }^{-1}(-\frac{f_x^b}{f_z^b})$

The attitude cosine matrix now determined by the angle of pitch and roll angle is:

$C_n^b=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& -\sin \mathrm{\&gamma;}\\ 0& 1& 0\\ \sin \mathrm{\&gamma;}& 0& \cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&theta;}& -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}\\ 0& \cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ \sin \mathrm{\&gamma;}& -\cos \mathrm{\&gamma;}\sin \mathrm{\&theta;}& \cos \mathrm{\&gamma;}\cos \mathrm{\&theta;}\end{array}\right],$

for orthogonal matrix, therefore $C_b^n={\left(C_n^b\right)}^T;$

Calculating magnetic heading angle formula is:

$\left\{\begin{array}{c}\left[\begin{array}{c}{m}_E\\ {m_N}_{}\\ m_U\end{array}\right]=C_b^n\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}\cos \mathrm{\&gamma;}& 0& \sin \mathrm{\&gamma;}\\ \sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}& \cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\\ -\sin \mathrm{\&gamma;}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\cos \mathrm{\&gamma;}\end{array}\right]\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]\\ \stackrel{\&OverBar;}{\mathrm{\&psi;}}=\arctan \frac{m_E}{m_N}=\arctan \frac{\left(\cos \mathrm{\&gamma;}\right)m_x+\left(\sin \mathrm{\&gamma;}\right)m_z}{\left(\sin \mathrm{\&theta;}\sin \mathrm{\&gamma;}\right)m_x+\left(\cos \mathrm{\&theta;}\right)m_y-\left(\sin \mathrm{\&theta;}\cos \mathrm{\&gamma;}\right)m_z}\end{array}\right.$

True heading angle is: $\mathrm{\&psi;}=\stackrel{\&OverBar;}{\mathrm{\&psi;}}+\mathrm{\&alpha;}$

In formula, m _x, m _y, m _zbe respectively magnetoresistive transducer in racket local coordinate system three output axially, m _e, m _n, m _zbe respectively racket east orientation in world coordinate system, north orientation, sky to projection; for magnetic heading, α is for work as geomagnetic declination, and ψ is true heading angle;

The acceleration being displaced through three axles obtaining shoes local coordinate system measured by accelerometer of shoes restores displacement through twice integration:

Acceleration information a _x, a _y, a _z, first carry out integral operation, obtain the speed v along shoes local coordinate system three axis _x, v _y, v _z, and then carry out integral operation, the time of calculating is in the cycle of Δ t, and user is relative to the displacement x of shoes local coordinate system three axles _b, Δ y _b, Δ z _b, specific formula for calculation is as follows:

$\mathrm{\&Delta;}{x}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_x\mathrm{dt},{\mathrm{\&Delta;y}}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_y\mathrm{dt},{\mathrm{\&Delta;z}}_b=\underset{t=\mathrm{\&Delta;t}}{\&Integral;\&Integral;}{a}_z\mathrm{dt}$

According to the above-mentioned attitude angle calculated, then both can by the relative displacement Δ x of user at local coordinate system _b, Δ y _b, Δ z _b, project in world coordinate system, obtain the relative displacement Δ x of user under world coordinate system _n, Δ y _n, Δ z _n;

Obtain shoes six degree of freedom data by continuous accumulation calculating, namely the movable information of human foot or shoes is expressed as the position coordinates (x under world coordinate system _n, y _n, z _n) and attitude angle (θ, γ, ψ).

5. a kind of shoes that utilize replace keyboard and mouse as the device of computer peripheral equipment according to claim 4, it is characterized in that: the course of work of the single-chip microcomputer in host computer receiver module is: the movable information of shoes is mapped as keyboard or mouse input by mapping table, obtain keyboard scancode or mouse mobile message and key information, and input information is converted to the USB peripheral hardware signal of standard, trigger corresponding hardware interrupts, keyboard scancode or mouse are moved the buffer zone being transferred to BIOS with key information, in order to system call.