CN105628021A - Movement inertia tracing method - Google Patents
Movement inertia tracing method Download PDFInfo
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- CN105628021A CN105628021A CN201510963145.6A CN201510963145A CN105628021A CN 105628021 A CN105628021 A CN 105628021A CN 201510963145 A CN201510963145 A CN 201510963145A CN 105628021 A CN105628021 A CN 105628021A
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- module
- accelerometer
- mobiles
- acceleration signal
- moment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a movement inertia tracing method. The method is applied to a movement inertia tracing system and comprises the following steps: 11) acquiring and transmitting an acceleration signal at time t; 12) determining the position at time t; 13) acquiring and transmitting the acceleration signal at time (t-1); 14) determining the position at time (t-1); 15) correcting the position; 16) acquiring and transmitting the angular speed signal; 17) calculating, wherein a control module calculates the rotation angle of a moving object from time t to time (t-1) according to an angular velocity signal transmitted by a gyroscope module. The method, provided by the invention, is simple to operate, greatly reduces electronic equipment and magnetic field interference around an object to be detected, enables the rotation angle value of the object to be accurate and increases the measurement accuracy as magnetic compass modules in the inertia measurement system are reduced; meanwhile due to reduction of the magnetic compass, the cost of measurement equipment is reduced.
Description
Technical field
The present invention relates to human-computer interaction technique field, specifically a kind of motional inertia method for tracing.
Background technology
Micro electro-mechanical systems acceleration sensor owing to volume is little, light weight, cost are low, high reliability and receive much concern, especially have very big application prospect in the Aero-Space that the volume of device, quality and reliability are had high requirements and weapons scientific domain. The research development in recent years of acceleration transducer is rapid, various performances, range high-range acceleration transducer oneself through in succession reporting. Inertia method for tracing of the prior art is loaded down with trivial details, and the information of collection is big by noise effect, so inaccuracy.
Summary of the invention
The invention aims to solve the defect that in prior art, motion tracking method causes sensitivity bad because of noise effect, it is provided that a kind of motional inertia method for tracing solves the problems referred to above.
To achieve these goals, technical scheme is as follows:
A kind of method that motional inertia is followed the trail of, described method is applied to a kind of motional inertia tracing system, and described system includes accelerometer module, controls module, gyro module; Described accelerometer module includes at least two accelerometer, and two accelerometers are separated by a distance to be arranged on mobiles; Gyro module is arranged on described mobiles; Accelerometer module and gyro module electrically connect with control module respectively;
Said method comprising the steps of:
11) t acceleration signal gathers and transmission
At least two accelerometer measures the mobiles acceleration signal in t respectively, and the acceleration signal of t is transferred to control module;
12) position of t is determined
The acceleration signal controlling the t that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
13) t-1 moment acceleration signal gathers level transmission
At least two accelerometer measures the mobiles acceleration in the t-1 moment respectively; And the acceleration signal in t-1 moment is transferred to control module;
14) position in t-1 moment is determined
The acceleration signal controlling the t-1 moment that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
15) aligning
Control module and correct the position in t 1 moment according to the relative position of two accelerometers;
16) angular velocity signal collection and transmission
Angular velocity signal is also transferred to control module by the angular velocity signal of gyro module collection activity object;
17) calculate
Control module and calculate the anglec of rotation of mobiles t t-1 according to the angular velocity signal that gyro module is transmitted.
Preferably, described step 15) in antidote be least square method.
Preferably, the position of described at least two accelerometer is in the Different Plane of mobiles.
Preferably, described accelerometer is three weeks accelerometers.
The present invention compared with prior art, has the advantages that
Method provided by the invention is simple to operate, owing to decreasing the magnetic compass module in inertial measurement system, decreases testee ambient electronics and magnetic interference, and greatly the numerical value of the precision objects anglec of rotation, improves certainty of measurement; Simultaneously as decrease magnetic compass, reduce the cost of measurement device.
Accompanying drawing explanation
Fig. 1 is the structure chart that a kind of motional inertia method for tracing provided by the invention is applied to a kind of motional inertia tracing system;
Fig. 2 is the flow chart of a kind of motional inertia method for tracing provided by the invention.
Detailed description of the invention
For making the architectural feature to the present invention and effect of reaching have a better understanding and awareness, coordinate detailed description in order to preferred embodiment and accompanying drawing, illustrate as follows:
As it is shown in figure 1, a kind of method that motional inertia is followed the trail of, described method is applied to a kind of motional inertia tracing system, and described system includes accelerometer module, controls module, gyro module; Described accelerometer module includes at least two accelerometer, and two accelerometers are separated by a distance to be arranged on mobiles; Gyro module is arranged on described mobiles; Accelerometer module and gyro module electrically connect with control module respectively.
As in figure 2 it is shown, said method comprising the steps of:
Step 1.t moment acceleration signal gathers and transmission
At least two accelerometer measures the mobiles acceleration signal in t respectively, and the acceleration signal of t is transferred to control module;
Step 2. determines the position of t
The acceleration signal controlling the t that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
Step 3.t-1 moment acceleration signal gathers level transmission
At least two accelerometer measures the mobiles acceleration in the t-1 moment respectively; And the acceleration signal in t-1 moment is transferred to control module;
Step 4. determines the position in t-1 moment
The acceleration signal controlling the t-1 moment that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
Step 5. aligning
Control module and correct the position in t 1 moment according to the relative position of two accelerometers;
Step 6. angular velocity signal collection and transmission
Angular velocity signal is also transferred to control module by the angular velocity signal of gyro module collection activity object;
Step 7. calculates
Control module and calculate the anglec of rotation of mobiles t t-1 according to the angular velocity signal that gyro module is transmitted.
Described at least two accelerometer measures the mobiles acceleration signal in t respectively, then control module it is transmitted separately to, control unit module determines therefrom that the mobiles position in t, seriality according to the time is foundation, two accelerometers measure the acceleration in t 1 moment respectively, control unit module determines therefrom that the mobiles position at t 1, then controls module and corrects the position in t 1 moment according to the relative position of two accelerometers; Control module and calculate the anglec of rotation of mobiles t to t 1 according to the angular velocity signal that gyro module is transmitted.
Antidote provided by the invention is least square method.
The position of at least two accelerometer provided by the invention is in the Different Plane of mobiles.
Accelerometer provided by the invention is three weeks accelerometers.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described. Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; simply principles of the invention described in above-described embodiment and description; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements both fall within claimed the scope of the present invention. The protection domain of application claims is defined by appending claims and equivalent thereof.
Claims (4)
1. the method that motional inertia is followed the trail of, described method is applied to a kind of motional inertia tracing system, and described system includes accelerometer module, controls module, gyro module; Described accelerometer module includes at least two accelerometer, and two accelerometers are separated by a distance to be arranged on mobiles; Gyro module is arranged on described mobiles; Accelerometer module and gyro module electrically connect with control module respectively;
It is characterized in that: said method comprising the steps of:
11) t acceleration signal gathers and transmission
At least two accelerometer measures the mobiles acceleration signal in t respectively, and the acceleration signal of t is transferred to control module;
12) position of t is determined
The acceleration signal controlling the t that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
13) t-1 moment acceleration signal gathers level transmission
At least two accelerometer measures the mobiles acceleration in the t-1 moment respectively; And the acceleration signal in t-1 moment is transferred to control module;
14) position in t-1 moment is determined
The acceleration signal controlling the t-1 moment that module is come according to the transmission of at least two accelerometer determines the mobiles position in t;
15) aligning
Control module and correct the position in t 1 moment according to the relative position of two accelerometers;
16) angular velocity signal collection and transmission
Angular velocity signal is also transferred to control module by the angular velocity signal of gyro module collection activity object;
17) calculate
Control module and calculate the anglec of rotation of mobiles t t-1 according to the angular velocity signal that gyro module is transmitted.
2. a kind of motional inertia according to claim 1 follow the trail of method, it is characterised in that: described step 15) in antidote be least square method.
3. the method that a kind of motional inertia according to claim 1 is followed the trail of, it is characterised in that: the position of described at least two accelerometer is in the Different Plane of mobiles.
4. the method that a kind of motional inertia according to claim 1 is followed the trail of, it is characterised in that: described accelerometer is three weeks accelerometers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963145.6A CN105628021A (en) | 2015-12-17 | 2015-12-17 | Movement inertia tracing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963145.6A CN105628021A (en) | 2015-12-17 | 2015-12-17 | Movement inertia tracing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105628021A true CN105628021A (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510963145.6A Pending CN105628021A (en) | 2015-12-17 | 2015-12-17 | Movement inertia tracing method |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595463A (en) * | 2018-06-13 | 2019-12-20 | 基斯特勒控股公司 | Impact motion tracking system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103179692A (en) * | 2011-12-26 | 2013-06-26 | 陈建新 | Human motion tracking system based on Zigbee/ institute of electrical and electronic engineers (IEEE) 802.15.4 |
| CN103471590A (en) * | 2013-09-22 | 2013-12-25 | 江苏美伦影像系统有限公司 | Motion inertia tracking system |
| CN104515532A (en) * | 2013-09-28 | 2015-04-15 | 南京专创知识产权服务有限公司 | Human motion simulation apparatus based on bluetooth |
-
2015
- 2015-12-17 CN CN201510963145.6A patent/CN105628021A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103179692A (en) * | 2011-12-26 | 2013-06-26 | 陈建新 | Human motion tracking system based on Zigbee/ institute of electrical and electronic engineers (IEEE) 802.15.4 |
| CN103471590A (en) * | 2013-09-22 | 2013-12-25 | 江苏美伦影像系统有限公司 | Motion inertia tracking system |
| CN104515532A (en) * | 2013-09-28 | 2015-04-15 | 南京专创知识产权服务有限公司 | Human motion simulation apparatus based on bluetooth |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595463A (en) * | 2018-06-13 | 2019-12-20 | 基斯特勒控股公司 | Impact motion tracking system |
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Application publication date: 20160601 |