CN103105176A - Motion tracking system and method based on micro-electromechanical systems (MEMS) sensor - Google Patents
Motion tracking system and method based on micro-electromechanical systems (MEMS) sensor Download PDFInfo
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Abstract
The invention discloses a motion tracking system and a motion tracking method based on a micro-electromechanical systems (MEMS) sensor. The motion tracking system comprises an upper computer, a plurality of Bluetooth hosts, and a sensing device which is arranged on each node, wherein the sensing device comprises an MEMS sensing unit, a data processing unit, a Bluetooth slave machine and an upper computer; the MEMS sensing unit is used for acquiring motion parameters of a corresponding node of a tracked object at a time in preset time at an interval; the data processing unit is used for performing fusion processing on the acquired motion parameters so as to acquire the motion information of the corresponding node of the tracked object and transmitting the motion information to a corresponding Bluetooth slave machine through a data interface; the Bluetooth slave machine is used for converting the received motion information into a Bluetooth signal and transmitting the Bluetooth signal to a corresponding Bluetooth host by utilizing a Bluetooth protocol; and the upper computer is used for collecting and gathering Bluetooth signals which correspond to each node from the Bluetooth hosts so as to generate motion information of the tracked object. According to the technical scheme, the requirements of multiple nodes and high rate in the motion tracking system are met, and the expansibility and flexibility are high.
Description
Technical field
The present invention relates to the motion tracking field, relate in particular to a kind of motion tracking system based on the MEMS sensor and method.
Background technology
Motion tracking system is the device that records object (as human body etc.) athletic posture.It is mainly realized by following two kinds of forms: the first is by external sense equipment, such as electromagnetics, acoustics or optical device.Mainly formed by measuring-signal source, signal feedback device and receiving sensor take external unit as main tracker, by the particular measurement signal by the source generation of measured object feedback signal, the information reverting measured object motion process that the receiving sensor utilization is wherein carried.The second is by being attached to the MEMS(Micro Electro Mechanical System of tracked thing, MEMS (micro electro mechanical system)) the sensor image data, directly calculate the measured object motion state by certain algorithm.In above dual mode, the external sense mode as optical measurement, have the advantages that precision is high, resolution is high, but cost is high, and installation difficulty is large, and the early-stage preparations time is long; And the method that adopts the MEMS sensor has still less restriction and stronger environmental suitability.
The MEMS solution that is applied at present the comparative maturity of three-dimensional space motion tracker is: use three axis accelerometer, three-axis gyroscope and magnetic sensor totally nine dimension data, utilize certain data anastomosing algorithm to obtain three-dimensional rotation angle and the three dimensions displacement of measured object attitude.Because each follows the tracks of data that node need to transmit except these information, generally also attached self-defined information for various concrete application, and for satisfying the system real time demand, the Data Update frequency is generally more than 50Hz, so transinformation is large; Number of nodes must satisfy the requirement (general Whole Body is followed the tracks of the node of needs more than 17) of application simultaneously.The wireless communication protocol of traditional sensors network low-power consumption low rate pulsed also is not suitable for directly being applied in this type systematic, because: existing system generally first each node is unified or part use cable to be wiredly connected on the embedded system of some motion, re-use data transmission that communication will gather to host computer.But these methods are restricted due to number of nodes and position, and power consumption also is restricted, thereby has affected extensibility and dirigibility based on the motion tracking system of MEMS sensor.
Summary of the invention
The technical problem to be solved in the present invention is, for the extensibility of the above-mentioned motion tracking system based on the MEMS sensor of prior art and the defective of very flexible, provides a kind of extensibility and dirigibility the good motion tracking system based on the MEMS sensor.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of motion tracking system based on the MEMS sensor, be used for following the tracks of the motion of tracked thing, described tracked thing has many group nodes, and the number of nodes of every group node mostly is seven most; Described motion tracking system comprises: host computer, connect with described host computer and with a plurality of bluetooth hosts corresponding to every group node and be arranged on sensing apparatus on each node, described sensing apparatus comprises: MEMS sensing unit, data processing unit, data-interface and bluetooth slave, wherein
Described MEMS sensing unit, be used for every the Preset Time collection once tracked phase answer the kinematic parameter of node;
Described data processing unit is used for the kinematic parameter that gathers is carried out fusion treatment, answers the movable information of node to obtain tracked phase, and described movable information is sent to corresponding bluetooth slave by described data-interface;
Described bluetooth slave is used for the movable information that receives is converted to Bluetooth signal, and utilizes Bluetooth protocol that described Bluetooth signal is sent to corresponding bluetooth host;
Described host computer is used for collecting and gathering the corresponding Bluetooth signal of each node from described a plurality of bluetooth hosts, to generate the movable information of tracked thing.
In the motion tracking system based on the MEMS sensor of the present invention, described host computer also is used for by corresponding bluetooth host, corresponding command signal being sent to corresponding bluetooth slave.
In the motion tracking system based on the MEMS sensor of the present invention, described MEMS sensor comprises accelerometer, gyroscope and the Magnetic Sensor that is separately positioned on X, Y, each axle of Z, and X, Y, Z three axle quadratures arrange; Described sensing apparatus also comprises correcting unit, and described correcting unit is used for the data that the Magnetic Sensor on each axle gathers are proofreaied and correct processing, and the data after proofreading and correct are sent into corresponding data processing unit.
In the motion tracking system based on the MEMS sensor of the present invention, described correcting unit is proofreaied and correct processing by spherical bounding algorithm to the data that Magnetic Sensor gathers.
In the motion tracking system based on the MEMS sensor of the present invention, described sensing apparatus also comprises:
Storage unit is used for the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory.
In the motion tracking system based on the MEMS sensor of the present invention, described sensing apparatus also comprises power supply and voltage management unit, and described power supply is described MEMS sensing unit, data processing unit, the power supply of bluetooth slave by described voltage management unit.
In the motion tracking system based on the MEMS sensor of the present invention, described sensing apparatus also comprises charging inlet and Charge Management unit, and described charging inlet is used for from the civil power power taking, and is described power supply charging by described Charge Management unit.
The present invention also constructs a kind of motion tracking method based on the MEMS sensor, comprising:
A. be arranged on each node of tracked thing the MEMS sensing unit every the Preset Time collection once tracked phase answer the kinematic parameter of node;
B. the data processing unit that is arranged on each node of tracked thing carries out fusion treatment to the kinematic parameter that gathers, answer the movable information of node to obtain tracked phase, and described movable information is sent to corresponding bluetooth slave by described data-interface;
C. the bluetooth slave that is arranged on each node of tracked thing is converted to Bluetooth signal with the movable information that receives, and utilizes Bluetooth protocol that described Bluetooth signal is sent to corresponding bluetooth host;
D. host computer is collected and gathers the corresponding Bluetooth signal of each node from each bluetooth host, to generate the movable information of tracked thing.
In the motion tracking method based on the MEMS sensor of the present invention, described MEMS sensor comprises accelerometer, gyroscope and the Magnetic Sensor that is separately positioned on X, Y, each axle of Z, and X, Y, Z three axle quadratures arrange;
Between described steps A and step B, also comprise:
E. the correcting unit that is arranged on each node of tracked thing is proofreaied and correct processing to the data that the Magnetic Sensor on each axle gathers, and the data after proofreading and correct are sent into data processing unit.
In the motion tracking method based on the MEMS sensor of the present invention, between described steps A and step e, also comprise:
With the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory.
Implement technical scheme of the present invention, compare existing motion tracking system, its advantage is: at most only need bear the data communication pressure of 7 nodes due to single bluetooth subnet, for traffic rate reserves enough surpluses, can satisfy the requirement of motion tracking system multinode, two-forty simultaneously.And, used the Bluetooth protocol wireless networking, make the complete physics of node independent, the technology that need not when number of nodes increases considerably drops into, and directly increases the bluetooth host number that is connected with host computer and gets final product, and limits without maximum node number in theory, the different tracing object of convenient adaptation, therefore, can adjust the bluetooth subnet quantity according to applying flexible, extendability and dirigibility are good.
Simultaneously, proofread and correct by the data that Magnetic Sensor is gathered, suppressed the hard iron interference in the environment, particularly the impact of the generation such as battery, wireless signal, improved tracking accuracy.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in accompanying drawing:
Fig. 1 is the logical diagram that the present invention is based on the motion tracking system embodiment one of MEMS sensor;
Fig. 2 is the logical diagram that the present invention is based on sensing apparatus embodiment one in the motion tracking system of MEMS sensor;
Fig. 3 is the logical diagram that the present invention is based on the MEMS sensor embodiment one of sensing apparatus in the motion tracking system of MEMS sensor;
Fig. 4 is the logical diagram that the present invention is based on sensing apparatus embodiment two in the motion tracking system of MEMS sensor;
Fig. 5 is the schematic diagram of the magnetic data queue stores that gathers of Magnetic Sensor of the present invention;
Fig. 6 is the process flow diagram that the present invention is based on the motion tracking method embodiment one of MEMS sensor;
Fig. 7 is the process flow diagram that the present invention is based on the motion tracking method embodiment two of MEMS sensor.
Embodiment
Fig. 1 is the logical diagram that the present invention is based on the motion tracking system embodiment one of MEMS sensor, this motion tracking system is used for following the tracks of the motion of tracked thing (for example human body), this tracked thing has many group nodes, and the number of nodes of every group node mostly is seven most, for example, the first group node be respectively node 1.1,1.2 ..., 1.7, the second group nodes be respectively node 2.1,2.2 ..., 2.7, the three group nodes be respectively node n.1, n.2 ..., n.7.The grouping that also it should be noted that node is manual operation, and is irrelevant with the natural quality of node.And this motion tracking system comprises: host computer 14, a plurality of bluetooth hosts corresponding with every group node, for example the bluetooth host 13 corresponding with the first group node and be arranged on sensing apparatus on each node, for example be arranged on the sensing apparatus 11 on node 1.1.Wherein, a plurality of bluetooth hosts are connected with host computer 14 respectively, and, in conjunction with the logical diagram of sensing apparatus embodiment one shown in Figure 2, this sensing apparatus, for example sensing apparatus 11, comprise: MEMS sensing unit 111, data processing unit 112, data-interface 113 and bluetooth slave 114, and also MEMS sensing unit 111 is used for every the Preset Time collection kinematic parameter of tracked thing node 1.1 once, in order to guarantee the dynamic property of tracker, this interval time is usually less than 20ms; Data processing unit 112 is used for the kinematic parameter that gathers is carried out fusion treatment, for example, Kalman filter by expansion is carried out filtering, to obtain the movable information of tracked thing node 1.1, and described movable information is sent to bluetooth slave 114 by data-interface 113, for example, with movable information and additional information packing, deliver to the bluetooth slave with the form of Frame by data-interface; Bluetooth slave 114 is used for the movable information that receives is converted to Bluetooth signal 12, and utilizes Bluetooth protocol that Bluetooth signal 12 is sent to bluetooth host 13.Bluetooth host 13 is generally host computer (central computer) Bluetooth adapter, and the data of beaming back by receiving each node bluetooth slave transfer data to host computer and are further processed.Host computer 14 is used for from a plurality of bluetooth hosts, and for example bluetooth host 13, collect and gather the corresponding Bluetooth signal of each node, to generate the movable information of tracked thing.In addition, host computer 14 also is used for by corresponding bluetooth host, and for example bluetooth host 13, and corresponding command signal is sent to corresponding bluetooth slave, and for example the bluetooth slave 114.
In the tracker of the present embodiment, use Bluetooth protocol to carry out wireless networking, although a bluetooth host is only supported maximum 7 bluetooth slaves accesses, possess higher traffic rate, low cost, communication distance far away (more than 100m can being reached under Bluetooth signal power Class1 grade) and the suitable advantages such as power consumption of realizing.As shown in Figure 1, in a bluetooth subnet 15, the sensing apparatus of node 11 will be sent to bluetooth host 13 by Bluetooth signal 12 by the Frame of sensing, calculating and packing, then by bluetooth host 13, the data of this subnet node be delivered to host computer 14 and be further processed.Owing to adopting Bluetooth protocol to communicate by letter between each node and host computer, each bluetooth host is 7 nodes of access at most, and the motion tracking system number of nodes is generally two to three times of this values, for example 17.And, the present invention also can use extra bluetooth host to expand, and the quantity that connects bluetooth hosts due to host computer 14 is unrestricted in theory, the expansion quantity difficulty that do not develop skill, therefore utilize a plurality of bluetooth hosts that the subnet of bluetooth separately is provided, can become multiple troclia point quantity.
The advantage of this kind mode is, at most only need bear the data communication pressure of 7 nodes due to single bluetooth subnet, for traffic rate reserves enough surpluses, can satisfy the requirement of motion tracking system multinode, two-forty simultaneously, and system can adjust the bluetooth subnet quantity according to applying flexible.
Fig. 3 is that invention is based on the logical diagram of the MEMS sensor embodiment one of sensing apparatus in the motion tracking system of MEMS sensor, this MEMS sensor comprises the accelerometer 411,412,413 that is separately positioned on X, Y, each axle of Z, gyroscope 421,422,423 and Magnetic Sensor 431,432,433, and X, Y, Z three axle quadratures arrange.Fig. 4 is the logical diagram that the present invention is based on sensing apparatus embodiment two in the motion tracking system of MEMS sensor, the sensing apparatus of this embodiment is compared embodiment shown in Figure 2, and difference is only: this sensing apparatus also comprises correcting unit 115, storage unit 116, voltage management unit 117, power supply 118, charging inlet 119 and Charge Management unit 110.Wherein, correcting unit 115 is used for the data that the Magnetic Sensor on each axle gathers are proofreaied and correct processing, and the data after proofreading and correct are sent into data processing unit 112, be also, after MEMS sensor 111 collects raw data, a part (acceleration information, angle-data) is directly sent into data processing unit 112, another part (magnetic data) is first sent into correcting unit 115 and is proofreaied and correct processing, be mainly to suppress the hard iron that magnetic sensor data is subject to (such as battery etc.) to disturb, proofread and correct and send into again data processing unit 112 after processing.Storage unit 116 is used for the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory, in conjunction with Fig. 5, when motion tracking carried out, the interval gathered the raw data of a Magnetic Sensor at set intervals, dynamically replaces data the oldest in storer with the formation form.Because Magnetic Sensor three dimensions rotates freely, so be filled with primary data in formation and queue pointer points to first element when following the tracks of beginning, think that namely this element is the oldest.When the data acquisition of a beginning new round, the element that queue pointer points to is eliminated out team, and new data is placed to this position, and with mobile one backward, pointer, completes data replacement one time.When pointer arrived the formation end, the operation of mobile changed into and points to queue heads (namely number 1 unit) backward.After data replacement is completed, correcting unit 115 can utilize these values that magnetic sensor data is proofreaied and correct.In addition, the sensing apparatus of each node has independently power supply, and for example, power supply 118 can be alkaline battery or lithium battery.When using removable alkaline battery, can omit charging inlet 119 and Charge Management unit 110; When using lithium battery as power supply 118, charging inlet 119 is from the civil power power taking, and be that lithium battery (power supply 118) charges by Charge Management unit 110, the lithium battery control of charging in Charge Management 110 pairs of unit reduces its duration of charging and guarantees its life-span.Power supply 118 guarantees the normal operation of node remainders by voltage management unit 117, and for example, power supply 118 be that MEMS sensing unit 111, data processing unit 112, bluetooth slave 114 are powered by voltage management unit 117.
In a preferred embodiment of the motion tracking system that the present invention is based on the MEMS sensor, correcting unit 115 utilizes the spherical constraint in terrestrial magnetic field that original magnetic data is proofreaied and correct, be specially: the mutually orthogonal Magnetic Sensor of X, Y, Z three axles in interference-free situation, its three direction magnetic intensity vectors
With absolute force B
MSatisfy:
And when Magnetic Sensor was subject to hard iron interference, the output valve of its three directions should change with following formula:
Wherein, * can be any direction in X, Y, Z,
The scalar value that represents the correspondence that in not disturbed situation, the party makes progress, and respective coordinates direction of principal axis have positive and negative dividing,
The output numerical value of Magnetic Sensor when disturbed, f
*Be the scaling factor error amount, δ B
*Be zero migration.f
*With δ B
*Correction parameter for Online Integer of the present invention.
Can be obtained the relation of Magnetic Sensor output valve and absolute force in disturbed situation by above-mentioned two formulas:
This formula is further converted to:
The capable vector on this formula equal sign left side and equal sign the right can represent by disturbed measured value, and column vector can represent by correcting value to be measured and geomagnetic field intensity constant, wherein:
k
4=(δB
x)
2+k
2(δB
y)
2+k
3(δB
z)
2-k
1
Node rotates freely the original magnetic strength data that obtain some and deposits storer at three dimensions when motion tracking begins.When motion tracking carried out, the interval gathered a raw data at set intervals, dynamically replaces data the oldest in storer with the formation form.Therefore, in the process of motion tracking, preserved all the time the original measurement value of specified quantity in the magnetic sensor data storer.These are worth first relational expression by Magnetic Sensor output valve and absolute force in the disturbed situation of matrix representation that substitution respectively above obtains, can obtain a plurality of equations, use least square solution inconsistent equation group can push away to such an extent that the least mean-square error of equal sign right-hand column vector is estimated, thereby further utilize second relational expression to calculate f* and the δ B of respective shaft fully
*Estimated value.Then sensor calibration unit 240 utilizes these parameters and not disturbed standard value and the funtcional relationship between disturbed output valve to proofread and correct current magnetic sensor data, realizes dynamic calibration.
Fig. 6 is the process flow diagram that the present invention is based on the motion tracking method embodiment one of MEMS sensor, and this motion tracking method comprises:
A. be arranged on each node of tracked thing the MEMS sensing unit every the Preset Time collection once tracked phase answer the kinematic parameter of node;
B. the data processing unit that is arranged on each node of tracked thing carries out fusion treatment to the kinematic parameter that gathers, answer the movable information of node to obtain tracked phase, and described movable information is sent to corresponding bluetooth slave by described data-interface;
C. the bluetooth slave that is arranged on each node of tracked thing is converted to Bluetooth signal with the movable information that receives, and utilizes Bluetooth protocol that described Bluetooth signal is sent to corresponding bluetooth host;
D. host computer is collected and gathers the corresponding Bluetooth signal of each node from each bluetooth host, to generate the movable information of tracked thing.
Fig. 7 is the process flow diagram that the present invention is based on the motion tracking method embodiment two of MEMS sensor, and the motion tracking method of this embodiment is compared embodiment shown in Figure 6, between steps A and step B, also comprises:
E. the correcting unit that is arranged on each node of tracked thing is proofreaied and correct processing to the data that the Magnetic Sensor on each axle gathers, and the data after proofreading and correct are sent into data processing unit.
In a preferred embodiment of the motion tracking method that the present invention is based on the MEMS sensor, between steps A and step e, also comprise: with the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory.
The above is only the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in claim scope of the present invention.
Claims (10)
1. the motion tracking system based on the MEMS sensor, be used for following the tracks of the motion of tracked thing, it is characterized in that, described tracked thing has many group nodes, and the number of nodes of every group node mostly is seven most; Described motion tracking system comprises: host computer, connect with described host computer and with a plurality of bluetooth hosts corresponding to every group node and be arranged on sensing apparatus on each node, described sensing apparatus comprises: MEMS sensing unit, data processing unit, data-interface and bluetooth slave, wherein
Described MEMS sensing unit, be used for every the Preset Time collection once tracked phase answer the kinematic parameter of node;
Described data processing unit is used for the kinematic parameter that gathers is carried out fusion treatment, answers the movable information of node to obtain tracked phase, and described movable information is sent to corresponding bluetooth slave by described data-interface;
Described bluetooth slave is used for the movable information that receives is converted to Bluetooth signal, and utilizes Bluetooth protocol that described Bluetooth signal is sent to corresponding bluetooth host;
Described host computer is used for collecting and gathering the corresponding Bluetooth signal of each node from described a plurality of bluetooth hosts, to generate the movable information of tracked thing.
2. the motion tracking system based on the MEMS sensor according to claim 1, is characterized in that, described host computer also is used for by corresponding bluetooth host, corresponding command signal being sent to corresponding bluetooth slave.
3. the motion tracking system based on the MEMS sensor according to claim 1, is characterized in that, described MEMS sensor comprises accelerometer, gyroscope and the Magnetic Sensor that is separately positioned on X, Y, each axle of Z, and X, Y, Z three axle quadratures arrange; Described sensing apparatus also comprises correcting unit, and described correcting unit is used for the data that the Magnetic Sensor on each axle gathers are proofreaied and correct processing, and the data after proofreading and correct are sent into corresponding data processing unit.
4. the motion tracking system based on the MEMS sensor according to claim 3, is characterized in that, described correcting unit is proofreaied and correct processing by spherical bounding algorithm to the data that Magnetic Sensor gathers.
5. the motion tracking system based on the MEMS sensor according to claim 3, is characterized in that, described sensing apparatus also comprises:
Storage unit is used for the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory.
6. the motion tracking system based on the MEMS sensor according to claim 1, it is characterized in that, described sensing apparatus also comprises power supply and voltage management unit, and described power supply is described MEMS sensing unit, data processing unit, the power supply of bluetooth slave by described voltage management unit.
7. the motion tracking system based on the MEMS sensor according to claim 6, it is characterized in that, described sensing apparatus also comprises charging inlet and Charge Management unit, and described charging inlet is used for from the civil power power taking, and is described power supply charging by described Charge Management unit.
8. the motion tracking method based on the MEMS sensor, is characterized in that, comprising:
A. be arranged on each node of tracked thing the MEMS sensing unit every the Preset Time collection once tracked phase answer the kinematic parameter of node;
B. the data processing unit that is arranged on each node of tracked thing carries out fusion treatment to the kinematic parameter that gathers, answer the movable information of node to obtain tracked phase, and described movable information is sent to corresponding bluetooth slave by described data-interface;
C. the bluetooth slave that is arranged on each node of tracked thing is converted to Bluetooth signal with the movable information that receives, and utilizes Bluetooth protocol that described Bluetooth signal is sent to corresponding bluetooth host;
D. host computer is collected and gathers the corresponding Bluetooth signal of each node from each bluetooth host, to generate the movable information of tracked thing.
9. the motion tracking method based on the MEMS sensor according to claim 8, is characterized in that, described MEMS sensor comprises accelerometer, gyroscope and the Magnetic Sensor that is separately positioned on X, Y, each axle of Z, and X, Y, Z three axle quadratures arrange;
Between described steps A and step B, also comprise:
E. the correcting unit that is arranged on each node of tracked thing is proofreaied and correct processing to the data that the Magnetic Sensor on each axle gathers, and the data after proofreading and correct are sent into data processing unit.
10. the motion tracking method based on the MEMS sensor according to claim 9, is characterized in that, between described steps A and step e, also comprises:
With the each data that gather of the corresponding Magnetic Sensor of formation form dynamic memory.
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| CN104166149A (en) * | 2013-05-20 | 2014-11-26 | 中国电信股份有限公司 | Indoor signal acquisition method and device based on MEMS sensor |
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| CN105686833A (en) * | 2016-01-13 | 2016-06-22 | 上海交通大学 | Wearable multinode three dimensional motion monitoring system based on wireless body area network |
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| WO2018082167A1 (en) * | 2016-11-02 | 2018-05-11 | 深圳市元征科技股份有限公司 | Data processing method and apparatus based on body area network |
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