CN107063173A - Angle detecting method and joint motions angle detecting system - Google Patents
Angle detecting method and joint motions angle detecting system Download PDFInfo
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- CN107063173A CN107063173A CN201710442846.4A CN201710442846A CN107063173A CN 107063173 A CN107063173 A CN 107063173A CN 201710442846 A CN201710442846 A CN 201710442846A CN 107063173 A CN107063173 A CN 107063173A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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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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Abstract
The present invention relates to a kind of above-mentioned angle detecting method and joint motions angle detecting system, angle detecting method includes：The initial angle information before measured body motion is obtained, and obtains three axis angular rates that measured body motion is produced；Attitude algorithm, which is carried out, using preset posture matrix and three axis angular rates obtains quaternary number；Eulerian angles are obtained according to quaternary number；According to the attitude angle after Eulerian angles and the motion of initial angle acquisition of information measured body.In this way, obtained attitude angle is handled according to three axis angular rates, it is contemplated that multiple directions, measurement accuracy is high.
Description
Technical field
The present invention relates to Data Detection Technology field, more particularly to a kind of angle detecting method and joint motions angle inspection
Examining system.
Background technology
Angle is an important parameter during machinery or human motion, is become by measuring the angle in motion process
Change, help to analyze movement tendency.
The method of traditional measurement angle is included based on Hall effect method of testing, based on capacitance test method, based on electricity
Hinder method of testing, based on mechanical piece angle method of testing etc., this several method is typically only capable to measure the angle of single direction, easily
Influenceed by extraneous acceleration and magnetic field etc., so that cause angle measurement error larger, and the change of diverse geographic location gravitational field
Change is easily caused measurement accuracy decline.
The content of the invention
Based on this, it is necessary to for traditional measuring method measurement accuracy it is low the problem of there is provided a kind of measurement accuracy is high
Angle detecting method and joint motions angle detecting system.
A kind of angle detecting method, including：
The initial angle information before measured body motion is obtained, and obtains the three shaft angles speed that the measured body motion is produced
Degree；
Attitude algorithm is carried out using preset posture matrix and three axis angular rate and obtains quaternary number；
Eulerian angles are obtained according to the quaternary number；
Attitude angle after the measured body motion according to the Eulerian angles and the initial angle acquisition of information.Above-mentioned angle
Detection method is spent, three axis angular rates produced by the initial angle information before obtaining measured body motion and by motion, according to
Preset posture matrix and three axis angular rates carry out attitude algorithm and obtain quaternary number, then obtain Eulerian angles according to quaternary number, finally
According to the attitude angle after Eulerian angles and the motion of initial angle acquisition of information measured body.In this way, obtained attitude angle is according to three axles
Angular speed is handled, it is contemplated that multiple directions, and measurement accuracy is high.
A kind of joint motions angle detecting system, including terminal and be connected with the terminal communication two angles detection
Device, two angle detectors are each secured to connect on two joint arms in same joint；
The step of angle detector realizes above-mentioned angle detecting method obtains attitude angle and sent to the terminal, institute
State the attitude angle acquisition angle that terminal is sent respectively according to two angle detectors.
Above-mentioned joint motions angle detecting system, by the way that two angle detectors are individually fixed at respectively, connection is same to close
On two joint arms of section, the angle detector on each joint arm can detect the attitude angle that the motion of corresponding joint arm is produced,
And send the attitude angle of detection to terminal, terminal obtains angle according to two attitude angles.Because angle detector is using above-mentioned
Angle detecting method obtains attitude angle, and obtained posture angular accuracy is high, so as to improve the precision of angle detection.
Brief description of the drawings
Fig. 1 is the flow chart of angle detecting method in an embodiment；
Fig. 2 is the flow chart of angle detecting method in another embodiment；
Fig. 3 is the structure chart of joint motions angle detecting system in an embodiment；
Fig. 4 is the schematic view of the mounting position of angle detector in an embodiment；
Fig. 5 is the structure chart of angle detector in an embodiment.
Embodiment
With reference to Fig. 1, the angle detecting method in an embodiment comprises the following steps.
S110：The initial angle information before measured body motion is obtained, and obtains the three shaft angles speed that measured body motion is produced
Degree.
Initial angle information is used to indicate the angle before this motion, such as the angle that a preceding motion detection is obtained
Degree.Three axis angular rates include the angular speed in three directions of x-axis, y-axis and z-axis in three-dimensional system of coordinate.
S130：Attitude algorithm, which is carried out, using preset posture matrix and three axis angular rates obtains quaternary number.
Preset posture matrix can set and store according to actual conditions.Specifically, quaternary number attitude algorithm can be passed through
Method according to preset posture matrix and three axis angular rates calculate obtaining corresponding quaternary number.
S150：Eulerian angles are obtained according to quaternary number.
Specifically, the conversion method that Eulerian angles can be counted to using quaternary obtains Eulerian angles.
S170：According to the attitude angle after Eulerian angles and the motion of initial angle acquisition of information measured body.
Eulerian angles are the angle produced by this motion, and the attitude angle after final measured body motion is obtained in this motion
Eulerian angles on the basis of consider initial angle information, such as, and in the corresponding angle of initial angle information increase Eulerian angles obtain
To attitude angle.
Above-mentioned angle detecting method, three produced by the initial angle information before obtaining measured body motion and by motion
Axis angular rate, carries out attitude algorithm according to preset posture matrix and three axis angular rates and obtains quaternary number, then obtained according to quaternary number
Eulerian angles are taken, finally according to the attitude angle after Eulerian angles and the motion of initial angle acquisition of information measured body.In this way, obtained appearance
State angle is handled according to three axis angular rates, it is contemplated that multiple directions, and measurement accuracy is high.
In one embodiment, with reference to Fig. 2, step S110 includes step S111 to step S115.
S111：Obtain the initial angle information before measured body motion.
S113：Gather initial three axis angular rate that measured body motion is produced.
Three axis angular rates can be collected by using three-axis gyroscope.Specifically or according to predetermined period
Initial three axis angular rate of interval collection, such as every 10ms (millisecond) collections once, finally can be using multiple initial the three of collection
The average value of axis angular rate.It is appreciated that in other embodiments, predetermined period can also be arranged as required to count for other
Value.
S115：Processing is filtered to initial three axis angular rate, three axis angular rates are obtained.
Processing is filtered by initial three axis angular rate to collection, so as to get three axis angular rates it is more accurate so that
The precision of angle detection can be improved.
Specifically, step S115 can include：Initial three axis angular rate is carried out using adaptive Kalman filter algorithm
Filtering process, obtains three axis angular rates.
Random noise is coloured noise, and with non-stationary property；By using adaptive Kalman filter algorithm, from
The statistical property (such as standard deviation and variance) of adjustment noise is adapted to, to realize optimal estimation, suppress noise jamming, so as to realize most
Excellent filtering.It is appreciated that in other embodiments, step S115 can also be realized to initial three axle using other filtering methods
Angular speed is filtered processing.
In one embodiment, please continue to refer to Fig. 2, step S120 is also included before S130：Gather environment temperature.Specifically
Ground, can gather environment temperature by using temperature sensor.Wherein, step S120 can be performed before step S110,
It can after step silo perform, can also simultaneously be performed with step S110.
Accordingly, step S130 includes step S131 and step S132.
S131：Temperature-compensating is carried out to three axis angular rates according to environment temperature, the shaft angle of three axle three after temperature-compensating is obtained
Speed.
Specifically, step S131 can be realized according to environment temperature using fitting of a polynomial algorithm or neutral net backoff algorithm
Temperature-compensating is carried out to three axis angular rates.It is appreciated that trip temperature benefit can also be entered using other modes in other embodiments
Repay.
S132：Attitude algorithm, which is carried out, using three axis angular rates after preset posture matrix and temperature-compensating obtains quaternary number.
, can be in certain model by carrying out temperature-compensating to three axis angular rates in collection environment temperature, and according to environment temperature
The influence that interior elimination temperature change is detected to angle is enclosed, the accuracy of three axis angular rates is improved, so as to improve the essence of angle detection
Degree.
Specifically, please continue to refer to Fig. 2, step S132 can include step S1321 and step S1323.
S1321：Motion duration is obtained, obtains what motion duration was included respectively according to three axis angular rates after temperature-compensating
The angle increment of multiple periods.
Motion duration, which refers to, terminates the spent time from setting in motion to motion.Motion duration can be divided into multiple continuous
Period, the angle increment of day part can be obtained according to three axis angular rates after temperature-compensating.
S1322：Equivalent rotating vector after the corresponding coning compensation of motion duration is obtained according to the angle increment of day part.
Specifically, step S1322 can obtain equivalent rotating vector using coning compensation method.By using coning compensation
Mode, can improve the accuracy for obtaining quaternary number, so as to further improve the accuracy of angle detection.
S1323：Quaternary number is obtained according to preset posture matrix and equivalent rotating vector.
Specifically, preset posture matrix is the matrix that corresponding four parameters of initial quaternary number are constituted.Such as, it is assumed that quaternary
Several representations is Q=q0+q1i+q2j+q3K, wherein q0For real number coordinate, q1、q2、q3For imaginary number coordinate, i, j, k is respectively
Imaginary unit, i*i=j*j=k*k=-1；Initial quaternary number is Q (t0)=q0(t0)+q1(t0)i+q2(t0)j+q3(t0) k, then
Preset posture matrix is q0, q1, q2, q3The matrix of composition.
The quaternary number degree of accuracy obtained by using step S1321 to step S1323 method is higher.
Specifically, in the present embodiment, motion duration can be divided into 3 periods, and step S1321 includes：
Step S1322 includes：
Step S1323 includes：
Q(tn)=q0(tn)+q1(tn)i+q2(tn)j+q3(tn)k (4)；
Wherein, ω is three axis angular rates after temperature-compensating, and h is motion duration, h=tn+1-tn；Δφ1For first when
The angle increment of section, Δ φ2For the angle increment of second period, Δ φ3For the angle increment of the 3rd period；φhAfter coning compensation
Equivalent rotating vector；Q (h) is [tn, tn+1] attitudes vibration quaternary number in the period；Q(tn+1) and Q (tn) it is respectively tn+1With
tnThe attitude quaternion at moment；U is and φhParallel unit vector.Tried to achieve according to formula (3) after q (h), q (h) is substituted into formula
(5), simultaneous formula (4) and (5) and it is iterated computing with reference to preset posture matrix and can tries to achieve Q (tn), you can try to achieve correspondence
Q0(tn)、q1(tn)、q2(tn)、q3(tn)。
Wherein, if using traditional complete card Algorithm for Solving quaternary number, had：
φh=Δ φ (7)；
Wherein, Δ φ is the angle increment in motion duration.
It is list sample algorithm due to finishing card algorithm, i.e., [tn, tn+1] ω in the period regards constant constant as, so
Integral error can be caused.In order to compensate integral error, it is necessary to using many increment algorithms.Although meter can be improved in view of many increments
Precision is calculated, but can be significantly greatly increased in amount of calculation, therefore the present embodiment and use three increment algorithms, i.e., in [tn, tn+1] in the period
ω regard variable as, be fitted angular speed with parabola.For SINS Attitude renewal, conical motion is worst
Condition of work, it can induce the serious drift of mathematical platform, should be with conical motion so making optimization processing to rotating vector algorithm
For environmental condition.Therefore, in the application, the angle increment that three increment algorithms calculate three periods is chosen, i.e. formula (1) replaces formula
(6) equivalent rotating vector, i.e. formula (2), are calculated using the algorithm of coning compensation and replace formula (7).In this way, can amount of calculation compared with
Computational accuracy is improved while small.
In one embodiment, the first parameter of quaternary number correspondence, the second parameter, the 3rd parameter and the 4th parameter, Eulerian angles bag
Include course angle, roll angle and the angle of pitch.That is, one quaternary number to should have first parameter, second parameter, one the 3rd
Parameter and the 4th parameter.
Step S150 includes：
β(tn)=- arcsin (2q1(tn)q3(tn)-2q0(tn)q2(tn))；
Wherein, q0(tn)、q1(tn)、q2(tn)、q3(tn) it is respectively the first parameter, the second parameter, the 3rd parameter and the 4th ginseng
Number, α (tn) it is the angle of pitch, β (tn) it is roll angle, γ (tn) it is course angle.
In one concrete application example, the corresponding q of quaternary number that step S150 is obtained0(tn)、q1(tn)、q2(tn)、q3(tn) respectively
For 8765, -4143,13192,642, then obtained course angle γ (t are calculatedn), roll angle β (tn) and angle of pitch α (tn) be respectively
351.625°、-61.75°、153.9375°。
In one embodiment, acceleration and magnetic field intensity acquisition step are also included before step S170：Obtain measured body
The 3-axis acceleration that three-axle magnetic field intensity and motion are produced.
Three-axle magnetic field intensity includes the magnetic field intensity in three directions of x-axis, y-axis and z-axis in three-dimensional system of coordinate, 3-axis acceleration
Include the acceleration in three directions of x-axis, y-axis and z-axis in three-dimensional system of coordinate.3-axis acceleration can be by using 3-axis acceleration
Meter is collected, and three-axle magnetic field intensity can be collected by using three axle magnetometer.Specifically, acceleration and magnetic field intensity
Acquisition step can simultaneously be performed with step S110.
Accordingly, step S170 includes：Eulerian angles are calibrated according to 3-axis acceleration and three-axle magnetic field intensity；According to
Eulerian angles after calibration and the attitude angle after the motion of initial angle acquisition of information measured body.
Initial angle information can be the Eulerian angles of previous motion detection, then after this time moving, and calculate the Europe after calibration
The vector for drawing angle Eulerian angles corresponding with initial angle information is that can obtain the attitude angle after measured body is this time moved.Enter one
Step ground, can carry out being calibrated according to 3-axis acceleration, three-axle magnetic field intensity and Eulerian angles using Kalman filtering algorithm
Attitude angle afterwards.
By being calibrated according to three axis angular rates and three-axle magnetic field intensity to Eulerian angles, by the gravity of geographic location
Field and influence of the magnetic field to motion process angle are taken into account, can compensate for the error because of gravitational field and magnetic field generation, improve Euler
The accuracy of detection at angle.
In one embodiment, after the 3-axis acceleration that the three-axle magnetic field intensity and motion for obtaining measured body are produced, also to three
Axle acceleration and three-axle magnetic field intensity are filtered processing, obtain filtered 3-axis acceleration and three-axle magnetic field intensity, and
Temperature-compensating is carried out to filtered 3-axis acceleration and three-axle magnetic field intensity according to the environment temperature of collection；Accordingly, step
Eulerian angles are calibrated according to the 3-axis acceleration after temperature-compensating and the three-axle magnetic field intensity after temperature-compensating in S170.
By first three-axle magnetic field intensity and 3-axis acceleration are filtered and temperature-compensating handle, so as to get three axle magnetic
Field intensity and 3-axis acceleration are more accurate, so that the calibration to Eulerian angles is more accurate, can further improve the accurate of angle detection
Property.Specifically, the filtering and temperature-compensating processing of 3-axis acceleration and three-axle magnetic field intensity can with the filtering of three axis angular rates and
Temperature-compensating processing is performed simultaneously.
Above-mentioned angle detecting method, can apply to the angle detection of mechanical movement, can also be applied to human synovial fortune
Dynamic angle detection.For example, rehabilitation exercise has very important effect for the repairing and treating of patient, most doctors require
Patient carries out the rehabilitation exercise training of some strength after bone-operating.Above-mentioned angle detecting method can be applied to portable health
Multiple motion monitoring product, the attitude angle produced during detection patient articular's motion, accuracy of detection is high.
With reference to Fig. 3 and Fig. 4, the joint motions angle detecting system in an embodiment, including terminal 210 and with terminal 210
Two angle detectors 220 of communication connection, two angle detectors 220 are each secured to connect same joint 300 (Fig. 5)
On two joint arms 310.
The step of angle detector 220 realizes above-mentioned angle detecting method obtains attitude angle and sent to terminal 210, terminal
210 attitude angles sent respectively according to two angle detectors 220 obtain angle.
The posture of the place joint arm 310 of angle detector 220 motion can be measured according to single angle detector 220
Angle.Because each joint 300 connects two joint arms 310, joint 300 can be seen as a vector to the end points of joint arm 310,
Therefore the angle between two joint arm 310 is equal to the angle of two vectors, as long as the attitude angle of two vector motions can be measured,
The size of the angle between two joint arm 310 can be obtained.Specifically, terminal 210 calculates two angle detectors 220 and sent out respectively
The difference for the attitude angle sent, regard the absolute value of difference as angle.
Above-mentioned joint motions angle detecting system, it is same by the way that two angle detectors 220 are individually fixed at into connection respectively
On two joint arms 310 in one joint 300, the angle detector 220 on each joint arm 310 can detect corresponding joint arm
The attitude angle that 310 motions are produced, and the attitude angle of detection is sent to terminal 210, terminal 210 is obtained according to two attitude angles and pressed from both sides
Angle.Because angle detector 220 is using above-mentioned angle detecting method acquisition attitude angle, obtained posture angular accuracy is high, so as to
Improve the precision of angle detection.
In one embodiment, terminal 210 is mobile terminal.It is high using flexibility by using mobile terminal, pass can be improved
The ease of use of section motion angle detecting system.For example, terminal 210 can include any one in mobile phone, flat board.Can be with
Understand, in other embodiments, terminal 210 can also be using fixed terminals such as computers.
Specifically, in the present embodiment, terminal 210 is mobile phone.2 angle detectors 220 are entered with planet-shaped by mobile phone to connect
Letter is connected, mobile phone A PP time-sharing multiplex programs, by polling addressing, read the attitude angle that 2 angle detectors 220 are detected respectively.
In one embodiment, with reference to Fig. 5, angle detector 220 includes communication module 221 and data processing module 222, number
According to the connection communication module 221 of processing module 222, communication module 221 is communicated to connect with terminal 210.Data processing module 222 is realized
The step of above-mentioned angle detecting method, obtains attitude angle and sends to communication module 221, communication module 221 by attitude angle send to
Terminal 210.
The detection of attitude angle is realized by using data processing module 222, data processing mould is connected using communication module 221
Block 222 sends the attitude angle that attitude angle is detected to terminal 210, simple in construction.
In one embodiment, communication module 221 is Bluetooth chip, and data processing module 222 is IMU (Inertial Measurement Unit)
Chip.Bluetooth chip is low compared to the chip power-consumption that other are used to communicate, and IMU chips can gather three axis angular rates, and have
Precision is high, low in energy consumption, small volume, it is lightweight, be easy to sealing and integrated advantage；Using Bluetooth chip and IMU chips, one side
The overall power of joint motions angle detecting system can be reduced, on the other hand can reduce volume and volume.
Specifically, the communication protocol of Bluetooth chip and terminal 210 is the agreement of low-power consumption bluetooth 4.0, and Bluetooth chip can be used
CC2540, wherein including 8051 kernels.IMU chips can use BNO055.
In one embodiment, please continue to refer to Fig. 5, angle detector 220 also includes rechargeable battery 223 and power management
Module 224, the connection communication module 221 of power management module 224, data processing module 222 and rechargeable battery 223.
Power management module 224 is used for when receiving starting-up signal, is exported according to the output voltage of rechargeable battery 223
Supply voltage is to communication module 221 and data processing module 222, when receiving off signal, stops output supply voltage extremely
Communication module 221 and data processing module 222.
By using power management module 224 when receiving starting-up signal/off signal, according to rechargeable battery 223
Output voltage export/does not export supply voltage to communication module 221 and data processing module 222, so as to easily pilot angle
Spend the switching on and shutting down of detector 220.Specifically, BQ21040 charging chips are can select to charge to rechargeable battery 223.
In one embodiment, above-mentioned joint motions angle detecting system also includes the server being connected with terminal communication 210
(not shown).
The angle of detection is sent to server and stored by terminal 210.In this way, the data of detection can be saved in into service
In device, it is easy to remotely check, it is convenient and swift.It is appreciated that terminal 210 can also send two attitude angles of reception to service
Device is stored.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of angle detecting method, it is characterised in that including：
The initial angle information before measured body motion is obtained, and obtains three axis angular rates that the measured body motion is produced；
Attitude algorithm is carried out using preset posture matrix and three axis angular rate and obtains quaternary number；
Eulerian angles are obtained according to the quaternary number；
Attitude angle after the measured body motion according to the Eulerian angles and the initial angle acquisition of information.
2. angle detecting method according to claim 1, it is characterised in that initial before the acquisition measured body motion
Angle information, and three axis angular rates that the measured body motion is produced are obtained, including：
Obtain the initial angle information before the measured body motion；
Gather initial three axis angular rate that the measured body motion is produced；
Processing is filtered to initial three axis angular rate, three axis angular rate is obtained.
3. angle detecting method according to claim 1, it is characterised in that the use preset posture matrix and described three
Axis angular rate progress attitude algorithm is obtained before quaternary number, in addition to：Gather environment temperature；
The use preset posture matrix and three axis angular rate carry out attitude algorithm and obtain quaternary number, including：According to described
Environment temperature carries out temperature-compensating to three axis angular rate, obtains three axis angular rates after temperature-compensating, using described default
Three axis angular rates after attitude matrix and temperature-compensating carry out attitude algorithm and obtain quaternary number.
4. angle detecting method according to claim 3, it is characterised in that described to use the preset posture matrix and temperature
Three axis angular rates after degree compensation carry out attitude algorithm and obtain quaternary number, including：
Obtain motion duration, according to three axis angular rates after temperature-compensating obtain respectively it is described motion duration included it is multiple when
The angle increment of section；
Equivalent rotating vector after the corresponding coning compensation of the motion duration is obtained according to the angle increment of day part；
Quaternary number is obtained according to the preset posture matrix and the equivalent rotating vector.
5. angle detecting method according to claim 1, it is characterised in that the first parameter of the quaternary number correspondence, second
Parameter, the 3rd parameter and the 4th parameter, the Eulerian angles include course angle, roll angle and the angle of pitch, described according to the quaternary
Number obtains Eulerian angles, including：
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<mi>t</mi>
<mi>n</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>q</mi>
<mn>0</mn>
</msub>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>n</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>n</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>n</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>t</mi>
<mi>n</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, q0(tn)、q1(tn)、q2(tn)、q3(tn) it is respectively first parameter, second parameter, the 3rd parameter
With the 4th parameter, α (tn) it is the angle of pitch, β (tn) it is the roll angle, γ (tn) it is the course angle.
6. angle detecting method according to claim 1, it is characterised in that described according to the Eulerian angles and described initial
Angle information is obtained before the attitude angle after the measured body motion, in addition to：
The 3-axis acceleration that the three-axle magnetic field intensity and motion for obtaining the measured body are produced；
Attitude angle after the motion of the measured body according to the Eulerian angles and the initial angle acquisition of information, including：
The Eulerian angles are calibrated according to the 3-axis acceleration and the three-axle magnetic field intensity；
Attitude angle after the measured body motion according to the Eulerian angles after calibration and the initial angle acquisition of information.
7. a kind of joint motions angle detecting system, it is characterised in that two be connected including terminal and with the terminal communication
Angle detector, two angle detectors are each secured to connect on two joint arms in same joint；
The angle detector, which is realized, to be obtained attitude angle such as the step of any one of claim 1-6 methods described and sends to described
Terminal, the attitude angle that the terminal is sent respectively according to two angle detectors obtains angle.
8. joint motions angle detecting system according to claim 7, it is characterised in that the angle detector includes logical
Believe module and data processing module, the data processing module connects the communication module, the communication module and the terminal
Communication connection.
9. joint motions angle detecting system according to claim 8, it is characterised in that the communication module is bluetooth core
Piece, the data processing module is IMU chips.
10. joint motions angle detecting system according to claim 8 or claim 9, it is characterised in that angle detector also includes
Rechargeable battery and power management module, the power management module connect the rechargeable battery, the communication module and institute
State data processing module.
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