CN103471590A - Motion inertia tracking system - Google Patents
Motion inertia tracking system Download PDFInfo
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- CN103471590A CN103471590A CN2013104318466A CN201310431846A CN103471590A CN 103471590 A CN103471590 A CN 103471590A CN 2013104318466 A CN2013104318466 A CN 2013104318466A CN 201310431846 A CN201310431846 A CN 201310431846A CN 103471590 A CN103471590 A CN 103471590A
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Abstract
The invention discloses a motion inertia tracking system which is characterized by comprising an accelerometer module, a control unit module and a gyroscope module. The accelerometer module comprises at least two accelerometers, wherein the two accelerometers are arranged on a movable object at a certain distance; the gyroscope module is arranged on the movable object; the accelerometer module and the gyroscope module are electrically connected with the control unit module respectively. Because a magnetic compass module in an inertial measurement system is omitted, electronic equipment and magnetic field interference around a detected object are reduced, a numerical value of a rotating angle of the object is greatly accurate, and the measurement accuracy is improved. Meanwhile, because the magnetic compass is reduced, the cost of measurement equipment is reduced.
Description
Technical field
The present invention relates to a kind of motional inertia tracing system, belong to the object localization field tests.
Background technology
In the object localization fields of measurement, need position and the motion change of real-time tracing and feedback object target.。The method of motion tracking is divided into according to the difference of sensing element: inertia tracking, optical tracking, power and mechanical type are followed the trail of, electromagnetic type is followed the trail of, acoustics is followed the trail of etc.; tradition object tracking and track restoring system mostly are comprised of the moment of inertia measurement unit, and the composition of the moment of inertia measurement unit is generally: gyroscope, accelerometer
And magnetic compass.Wherein, gyroscope can measure angular velocity, is commonly used to calculate the angle of object rotation; Accelerometer can measure acceleration, is commonly used to calculate the distance that object moves; Magnetic compass can measure absolute orientation and then obtain the angle that object rotates.But the interference of electronic equipment arround magnetic compass easily is subject to, affect the measuring accuracy of the anglec of rotation.
Summary of the invention
For the deficiencies in the prior art, the purpose of this invention is to provide a kind of motional inertia tracing system that does not comprise magnetic compass.
For achieving the above object, the present invention realizes by following technological means:
. a kind of motional inertia tracing system is characterized in that: comprise accelerometer module, control module module, gyro module; Described accelerometer module comprises at least two accelerometers, two separated by a distance being arranged on mobiles of accelerometer; Gyro module is arranged on described mobiles; Accelerometer module and gyro module are electrically connected to the control module module respectively;
Described at least two accelerometers are measured respectively mobiles at the t acceleration signal in the moment, then transfer to respectively the control module module, the control module module determines that mobiles is in the t position in the moment accordingly, according to the continuity of time, it is foundation, two accelerometers are measured respectively at t-1 acceleration constantly, the control module module determines that mobiles is in the position of t-1 accordingly, and then control module is proofreaied and correct t-1 position constantly according to the relative position of two accelerometers; Control module calculates the anglec of rotation of mobiles t to t-1 according to the angular velocity signal of gyro module transmission.
Preferably:
Described a kind of motional inertia tracing system is characterized in that: described bearing calibration is least square method;
Described a kind of motional inertia tracing system, it is characterized in that: the position of described at least accelerometer is on the Different Plane of mobiles;
Described a kind of motional inertia tracing system is characterized in that: described accelerometer is three axis accelerometer.
The invention has the beneficial effects as follows: the present invention, owing to having reduced the magnetic compass module in the inertial measurement system, has reduced testee electronic equipment and magnetic interference on every side, and greatly accurately the numerical value of the object anglec of rotation, improved measuring accuracy; Simultaneously, owing to having reduced magnetic compass, reduced the cost of measuring equipment.
The accompanying drawing explanation
Fig. 1 is system schematic of the present invention.
Embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figure 1. a kind of motional inertia tracing system is characterized in that: comprise accelerometer module, control module module, gyro module; Described accelerometer module comprises at least two accelerometers, two separated by a distance being arranged on mobiles of accelerometer; Gyro module is arranged on described mobiles; Accelerometer module and gyro module are electrically connected to the control module module respectively;
Described at least two accelerometers are measured respectively mobiles at the t acceleration signal in the moment, then transfer to respectively the control module module, the control module module determines that mobiles is in the t position in the moment accordingly, according to the continuity of time, it is foundation, two accelerometers are measured respectively at t-1 acceleration constantly, the control module module determines that mobiles is in the position of t-1 accordingly, and then control module is proofreaied and correct t-1 position constantly according to the relative position of two accelerometers; Control module calculates the anglec of rotation of mobiles t to t-1 according to the angular velocity signal of gyro module transmission.
Preferably:
Described a kind of motional inertia tracing system is characterized in that: described bearing calibration is least square method;
Described a kind of motional inertia tracing system, it is characterized in that: the position of described at least accelerometer is on the Different Plane of mobiles;
Described a kind of motional inertia tracing system is characterized in that: described accelerometer is three axis accelerometer.
Above demonstration and described ultimate principle of the present invention, principal character and advantage.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (5)
1. a motional inertia tracing system, is characterized in that: comprise accelerometer module, control module module, gyro module; Described accelerometer module comprises at least two accelerometers, two separated by a distance being arranged on mobiles of accelerometer; Gyro module is arranged on described mobiles; Accelerometer module and gyro module are electrically connected to the control module module respectively;
Described at least two accelerometers are measured respectively mobiles at the t acceleration signal in the moment, then transfer to respectively the control module module, the control module module determines that mobiles is in the t position in the moment accordingly, according to the continuity of time, it is foundation, two accelerometers are measured respectively at t-1 acceleration constantly, the control module module determines that mobiles is in the position of t-1 accordingly, and then control module is proofreaied and correct t-1 position constantly according to the relative position of two accelerometers; Control module calculates the anglec of rotation of mobiles t to t-1 according to the angular velocity signal of gyro module transmission.
2. a kind of motional inertia tracing system as claimed in claim 1, it is characterized in that: described bearing calibration is least square method.
3. a kind of motional inertia tracing system as claimed in claim 1, it is characterized in that: the position of described at least two accelerometers is on the Different Plane of mobiles.
4. a kind of motional inertia tracing system as claimed in claim 1, it is characterized in that: the position of described at least two accelerometers is on the same level of mobiles.
5. a kind of motional inertia tracing system as claimed in claim 1, it is characterized in that: described accelerometer is three axis accelerometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013104318466A CN103471590A (en) | 2013-09-22 | 2013-09-22 | Motion inertia tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013104318466A CN103471590A (en) | 2013-09-22 | 2013-09-22 | Motion inertia tracking system |
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| CN103471590A true CN103471590A (en) | 2013-12-25 |
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| CN2013104318466A Pending CN103471590A (en) | 2013-09-22 | 2013-09-22 | Motion inertia tracking system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105371845A (en) * | 2015-12-17 | 2016-03-02 | 安徽寰智信息科技股份有限公司 | Inertia tracking module |
| CN105466426A (en) * | 2015-12-17 | 2016-04-06 | 安徽寰智信息科技股份有限公司 | Tracking system for motion inertia |
| CN105486310A (en) * | 2015-12-17 | 2016-04-13 | 安徽寰智信息科技股份有限公司 | Three-dimensional human-computer interaction system with inertial tracking module |
| CN105628022A (en) * | 2015-12-17 | 2016-06-01 | 安徽寰智信息科技股份有限公司 | Inertial tracking module applied to three-dimensional human-machine interaction system |
| CN105628021A (en) * | 2015-12-17 | 2016-06-01 | 安徽寰智信息科技股份有限公司 | Movement inertia tracing method |
| CN106403936A (en) * | 2015-07-30 | 2017-02-15 | 置富存储科技(深圳)有限公司 | System for calculating moving trajectory of moving plate controlled by user |
| CN110313973A (en) * | 2019-07-05 | 2019-10-11 | 北京积水潭医院 | Long bone rotary osteotomy operation angle measurement system and data processing method |
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| US4038527A (en) * | 1975-10-21 | 1977-07-26 | The Singer Company | Simplified strapped down inertial navigation utilizing bang-bang gyro torquing |
| CN1308505A (en) * | 1998-04-17 | 2001-08-15 | 麻省理工学院 | Motion tracking system |
| US20040259651A1 (en) * | 2002-09-27 | 2004-12-23 | Imego Ab | Sporting equipment provided with a motion detecting arrangement |
| CN101128167A (en) * | 2004-12-22 | 2008-02-20 | 奥瑟Hf公司 | Systems and methods for processing limb motion |
| CN101292131A (en) * | 2005-09-02 | 2008-10-22 | 诺基亚公司 | Calibration of 3d field sensors |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403936A (en) * | 2015-07-30 | 2017-02-15 | 置富存储科技(深圳)有限公司 | System for calculating moving trajectory of moving plate controlled by user |
| CN105371845A (en) * | 2015-12-17 | 2016-03-02 | 安徽寰智信息科技股份有限公司 | Inertia tracking module |
| CN105466426A (en) * | 2015-12-17 | 2016-04-06 | 安徽寰智信息科技股份有限公司 | Tracking system for motion inertia |
| CN105486310A (en) * | 2015-12-17 | 2016-04-13 | 安徽寰智信息科技股份有限公司 | Three-dimensional human-computer interaction system with inertial tracking module |
| CN105628022A (en) * | 2015-12-17 | 2016-06-01 | 安徽寰智信息科技股份有限公司 | Inertial tracking module applied to three-dimensional human-machine interaction system |
| CN105628021A (en) * | 2015-12-17 | 2016-06-01 | 安徽寰智信息科技股份有限公司 | Movement inertia tracing method |
| CN110313973A (en) * | 2019-07-05 | 2019-10-11 | 北京积水潭医院 | Long bone rotary osteotomy operation angle measurement system and data processing method |
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Application publication date: 20131225 |