CN109115224A - A kind of high dynamic trajectory processing method and device of nine axle sensors - Google Patents
A kind of high dynamic trajectory processing method and device of nine axle sensors Download PDFInfo
- Publication number
- CN109115224A CN109115224A CN201811005591.6A CN201811005591A CN109115224A CN 109115224 A CN109115224 A CN 109115224A CN 201811005591 A CN201811005591 A CN 201811005591A CN 109115224 A CN109115224 A CN 109115224A
- Authority
- CN
- China
- Prior art keywords
- carrier
- valley
- value
- peak
- transformation matrix
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Brushes (AREA)
Abstract
The present invention provides a kind of high dynamic trajectory processing method and device of nine axle sensors, and nine axle sensors are installed on carrier, this method comprises: to time interval [tk,tk+ T] on carrier angular speed carry out curve fitting, obtainAccording toCalculate equivalent rotating vectorAccording toCalculate attitude quaternionReal-time update is carried out to four element of posture, obtains attitude angle, and establish pose transformation matrixThe location information that the carrier is determined according to the attitude angle and pose transformation matrix obtains the track of the carrier.The present invention provides a kind of Trajectory Arithmetics of high dynamic, can be adapted for the trajectory calculation of toothbrush tail portion movement.
Description
Technical field
The present invention relates to inertial navigation technique fields, more particularly to a kind of the high dynamic trajectory processing method and dress of nine axle sensors
It sets.
Background technique
It is shown according to the Ministry of Public Health in the data of " Third National oral health epidemiological research report ", whole people's stomatopathy
Illness rate is up to 97.6%.Although brushing teeth is that (China its people rate of brushing teeth exists the most of national oral care that must be done daily in China
Low age group reaches 82%, 89.3%) middle aged age group reaches, but national oral cavity is still unhealthy, and reason is most people
It brushes teeth without science, causes cleaning of teeth degree inadequate.It how to be one of research topic of oral health.To brushing motions track
It calculates, can be used as the judgment basis of teeth brushing way, be effectively brushing teeth for the science that carries out, reduce the research direction of oral cavity illness rate
One of.With the high speed development of micro-machining, nanometer technique and integrated optics technique, micro electronmechanical (MEMS) inertia is passed
The Inertial Measurement Unit (abbreviation MEMS is used to group) of sensor composition is widely paid attention to and fast development, since it is inexpensive, small
Volume, light-weight advantage are generalizable rapidly, increasingly close to people's lives in fields such as normal domestics.Toothbrush
Since wrist swinging amplitude is too small, frequency of brushing teeth also varies with each individual user, and the available space finiteness of toothbrush, this is pair
Toothbrush motion mode carries out the difficult point of trajectory calculation, the advantages of using MEMS sensor, can acquire toothbrush user when brushing teeth
The sensor information of toothbrush tail portion, to carry out trajectory calculation.Although and there are many advantages of MEMS sensor, are that its disadvantage also compares
More apparent: precision is relatively low.For this purpose, the combination with magnetometer, is that it proposes one of high-precision approach.Magnetometer to vibration,
The characteristics of impact etc. is insensitive, influences linear change with environment such as temperature also effective compensation easy to accomplish, and it also has both
The characteristics of precision high and low cost, complementarity is formed with MEMS inertial sensor.
As shown in Figure 1, in the prior art, track solution process mainly includes that attitude updating algorithm and navigation calculate two mistakes
Journey.Wherein, the MEMS Inertial Measurement Unit (MEMS-IMU, abbreviation MIMU) formed according to MEMS gyroscope and mems accelerometer
Obtained toothbrush angular movement information and line motion information are measured to calculate the strapdown attitude angle of toothbrush, with mems accelerometer and
The attitude angle that magnetometer calculates is filtered by Kalman filter, obtains error quaternion, then the posture four with MIMU
First number combines the pose transformation matrix for establishing toothbrush, that is, realizes and converted by the coordinate of toothbrush coordinate system to navigational coordinate system, thus
Mathematical platform coordinate system is established, provides mathematical platform for navigation calculation, converts navigation for the kinematic parameter in toothbrush coordinate system
Kinematic parameter in coordinate system.With the movement of toothbrush, pose transformation matrix also changes therewith, can determine according to the element of matrix
The attitude angle of toothbrush, then calculated by speed, further obtain speed and location information.
Since brushing motions belong to the movement of high-frequency, small magnitude, general attitude algorithm and navigation calculation are not able to satisfy
High dynamic requirement.
Summary of the invention
The embodiment of the present invention provides a kind of high dynamic trajectory processing method and device of nine axle sensors, to be suitable for toothbrush
The trajectory calculation of tail portion movement.
In a first aspect, the embodiment of the invention provides a kind of high dynamic trajectory processing method of nine axle sensors, described nine
Axle sensor is installed on carrier, which comprises
To time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtaintkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is three sons
The time point of sample, a0For constant, a1For once fitting coefficient, a2For quadratic fit coefficient；
According toCalculate equivalent rotating vectorFor equivalent rotary
Vector sample number, h are the posture renewal period；
According toCalculate attitude quaternionΦ is effect rotating vectorAbsolute value；
Real-time update is carried out to four element of posture, obtains attitude angle, and establish pose transformation matrixΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from skWhen
It is carved into skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
The location information that the carrier is determined according to the attitude angle and pose transformation matrix obtains the rail of the carrier
Mark.
Optionally,
Optionally, the carrier is toothbrush, described to determine the carrier according to the attitude angle and pose transformation matrix
Location information, after the step of obtaining the track of the carrier, the method also includes:
The acceleration information of nine axle sensors is acquired, and is synthesized, resultant acceleration is obtained；
Detect the peak value and valley of the resultant acceleration；
When there is a pair of of peak-to-valley value, the difference in the pair of peak-to-valley value between peak value and valley is calculated；
When the difference is greater than preset value, judge to detect whether duration is located in preset time window, when the detection
The time span of the resultant acceleration is detected in a length of deterministic process of once brushing teeth；
When the duration is located in preset time window, then records brushing times and add one.
Optionally, the N is 3.
Second aspect, it is described the embodiment of the invention also provides a kind of high dynamic trajectory processing device of nine axle sensors
Nine axle sensors are installed on carrier, and described device includes:
Curve fitting module, for time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtaintkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is three sons
The time point of sample, a0For constant, a1For once fitting coefficient, a2For quadratic fit coefficient；
First computing module is used for basisCalculate equivalent rotating vectorFor equivalent rotating vector sample number, h is the posture renewal period；
Second computing module is used for basis
Calculate attitude quaternionΦ is effect rotating vectorAbsolute value；
Processing module obtains attitude angle, and establish pose transformation matrix for carrying out real-time update to four element of postureΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from skWhen
It is carved into skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
Determining module is obtained for determining the location information of the carrier according to the attitude angle and pose transformation matrix
The track of the carrier.
Optionally,
Optionally, the carrier is toothbrush, described device further include:
Acceleration synthesis module, acquires the acceleration information of nine axle sensors, and is synthesized, and resultant acceleration is obtained；
Detection module, for detecting the peak value and valley of the resultant acceleration；
Third computing module, for when there is a pair of of peak-to-valley value, calculate in the pair of peak-to-valley value peak value and valley it
Between difference；
Judgment module, for judging to detect whether duration is located at preset time window when the difference is greater than preset value
It is interior, the time span of the resultant acceleration is detected in when detection a length of deterministic process of once brushing teeth；
Logging modle then records brushing times and adds one for being located in preset time window when the duration.
Optionally, the N is 3.
Due in embodiments of the present invention, using three increment rotating vector algorithms, attitude quaternion is calculated, and to posture
Four elements carry out real-time update, obtain attitude angle, while establishing pose transformation matrix.Therefore the embodiment of the invention provides one kind
The Trajectory Arithmetic of high dynamic can be adapted for the trajectory calculation of toothbrush tail portion movement.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that prior art toothbrush track resolves flow chart；
Fig. 2 is the flow chart of the high dynamic trajectory processing method of nine axle sensor provided in an embodiment of the present invention；
Fig. 3 is the structure chart of the high dynamic trajectory processing device of nine axle sensor provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Referring to fig. 2, Fig. 2 is a kind of stream of the high dynamic trajectory processing method of nine axle sensor provided in an embodiment of the present invention
Cheng Tu, nine axle sensor are installed on carrier, as shown in Figure 1, comprising the following steps:
Step 101, to time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtaintkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is three sons
The time point of sample, a0For constant, a1For once fitting coefficient, a2For quadratic fit coefficient；
Step 102, according toCalculate equivalent rotating vectorFor
Equivalent rotating vector sample number, h are the posture renewal period；
Step 103, according toCalculate posture four
First numberΦ is effect rotating vectorAbsolute value；
Step 104, real-time update is carried out to four element of posture, obtains attitude angle, and establish pose transformation matrixΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from skWhen
It is carved into skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
Step 105, the location information that the carrier is determined according to the attitude angle and pose transformation matrix obtains the load
The track of body.
In the embodiment of the present invention, above-mentioned carrier can be toothbrush, can be first to establish frame of reference, initial appearance to toothbrush
State angle is 0 °.
Above-mentioned steps 101 are used to be fitted gyro output, and calculate equivalent rotating vector.Specifically, step 101,
To time interval [tk, tk+ T] on carrier angular speed be fitted with second-degree parabola, have following formula:
In formula, as i=1,
As i=2,
As i=3,
In the present embodiment, to make algorithm drift minimum, corresponding equivalent rotating vectorIt can be with are as follows:
Above-mentioned steps 102 are used to calculate the equivalent rotating vector under posture renewal period h, and the size of above-mentioned N can basis
Actual needs is configured, for example, in the present embodiment, N can be set to 3, that is, sets posture renewal period h as equivalent rotary
Vector calculates three times of cycle T, obtains by above-mentioned steps, using attitudes vibration quaternary number formula, acquires attitude quaternion
Above-mentioned steps 103, for solving attitude angle.Specifically, calculating attitude quaternionAfterwards, to posture quaternary
Number carries out real-time update, and solves attitude angle:
θ=arcsin (T32)
In formula, θ, γIt is main、ΨIt is mainRespectively pitch angle, roll angle and course angle.T32、T31、T33、T12、T22Respectively by following
Several formula obtain:
T12=2 (q1q2-q0q3)
T31=2 (q1q3-q0q2)
T32=2 (q2q3-q0q1)
Wherein, q0、q1、q2、q3ForFour elements.
By the true value for the pitch angle that above formula can be asked, and course angle and the true value of roll angle need to then be carried out really by following equation
It is fixed:
Above-mentioned steps 4 are converted to navigation coordinate system from above-mentioned frame of reference for carrying out coordinate system conversion.Specifically,
When reaching navigational coordinate system update cycle D, then navigational coordinate system is modified, if from skMoment is to sk+ D moment toothbrush
Longitude and latitude increment is respectively Δ λ and Δ L, and since toothbrush movement is small movements, Δ λ and Δ L are small quantity, then from skWhen
It is carved into skThe navigational coordinate system equivalent rotating vector at+D momentAre as follows:
In formula, L is local latitude.
Pose transformation matrixAre as follows:
By attitude quaternionS can be calculated in real timek+ D moment carrier coordinate system is to skThe conversion of the navigational coordinate system at moment
Matrix, it may be assumed thatFurther according to navigational coordinate system correction matrixIt can be obtained in sk+ D moment carrier coordinate system to navigation
The pose transformation matrix of coordinate system are as follows:
Above-mentioned steps 105, for analyzing track, specific analytic process is the prior art, and this will not be detailed here.
In this way, using three increment rotating vector algorithms due in embodiments of the present invention, attitude quaternion is calculated, and
Real-time update is carried out to four element of posture, obtains attitude angle, while establishing pose transformation matrix.Therefore the embodiment of the present invention provides
A kind of Trajectory Arithmetic of high dynamic can be adapted for the trajectory calculation of toothbrush tail portion movement.
Further, above-mentioned carrier is toothbrush, can also be based on brushing times and brush by judging brushing times
Tooth track can determine track of brushing teeth in conjunction with the distribution of dental surface, and then determine the reasonability for the mode brushed teeth.
Specifically, the distribution situation of dental surface can be divided using existing distribution mode under normal conditions, example
Such as, dental surface can be divided into 16 faces, left front right 6 faces in the outer surface of upper lower teeth, the occlusal surface of upper lower teeth are left
Left front right 6 faces of the inner surface of 4 faces of front right and upper lower teeth, are analyzed by algorithm, count brushing teeth for 16 faces of tooth respectively
Motion frequency, time and motion mode.
The judgement of above-mentioned brushing times can be configured according to actual needs, for example, in the present embodiment, in above-mentioned steps
After 105, this method can also include:
Step 106, the acceleration information of nine axle sensors is acquired, and is synthesized, resultant acceleration is obtained；
Step 107, the peak value and valley of the resultant acceleration are detected；
Step 108, when there is a pair of of peak-to-valley value, the difference in the pair of peak-to-valley value between peak value and valley is calculated；
Step 109, when the difference is greater than preset value, judge to detect whether duration is located in preset time window, institute
The time span of the resultant acceleration is detected when stating detection in a length of deterministic process of once brushing teeth；
Step 110, when the duration is located in preset time window, then brushing times is recorded and add one.
In the embodiment of the present invention, after to parameter initialization, collected acceleration information is synthesized, is synthesized
Acceleration.Specifically, the identification for peak value and valley, can be detected using region method.To ensure to find signal waveform
True peak-to-valley value, in addition to using sliding window to be judged, also the bee valley that finds and adjacent several sampled points
Value is compared, and is real peak-to-valley value if peak (paddy) value is most to be worth in neighborhood, otherwise abandons peak (paddy) value.
Depending on time window size, thus eliminate as far as possible influences caused by interfering the number of neighborhood.
By behavior model analysis of brushing teeth it is found that behavior of once brushing teeth (up and down motion or side-to-side movement) corresponding acceleration
Period of change, resultant acceleration generate a complete sinusoidal waveform.
Acceleration change has following characteristics in one brushing cycles:
1) only there is primary acceleration maximum and minimum in a brushing cycles, there is a first transition and descending area
Between, but due to the influence of noise, section and non-critical rising or stringent decline:
2) when moving, acceleration maximum and minimum are alternately present, but due to the influence of noise, will lead to some poles
Value can not be found, this just needs to judge according to the raising and lowering characteristic in section the presence of extreme value.
The condition for setting beginning of brushing teeth is: peak value is searched according to region method, it is then special according to the raising and lowering in section
Property further verify the presence of peak value, think a brushing action occur when finding a pair of of peak-to-valley value.Such determination method
Can the detection of real-time perfoming step number, but whether be effective paces it is still necessary to other threshold values and Parameter Conditions to determine.Specifically, as above
Step 108 and step 109 are stated, the difference in a pair of of peak-to-valley value between peak value and valley and primary brush teeth can be used to judge
The time span that the resultant acceleration is detected in journey is judged, to improve the accuracy of brushing times judgement.
It is the structure of the high dynamic trajectory processing device of nine axle sensor provided in an embodiment of the present invention referring to Fig. 3, Fig. 3
Figure, as shown in figure 3, the high dynamic trajectory processing device of nine axle sensors includes:
Curve fitting module 301, for time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtaintkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is three sons
The time point of sample, a0For constant, a1For once fitting coefficient, a2For quadratic fit coefficient；
First computing module 302 is used for basisCalculate equivalent rotary
VectorFor equivalent rotating vector sample number, h is the posture renewal period；
Second computing module 303 is used for basisCalculate attitude quaternionΦ is effect rotation
VectorAbsolute value；
Processing module 304 obtains attitude angle, and establish posture conversion square for carrying out real-time update to four element of posture
Battle arrayΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from sk
Moment is to skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
Determining module 305 is obtained for determining the location information of the carrier according to the attitude angle and pose transformation matrix
To the track of the carrier.
Optionally,
Optionally, the carrier is toothbrush, described device further include:
Acceleration synthesis module, acquires the acceleration information of nine axle sensors, and is synthesized, and resultant acceleration is obtained；
Detection module, for detecting the peak value and valley of the resultant acceleration；
Third computing module, for when there is a pair of of peak-to-valley value, calculate in the pair of peak-to-valley value peak value and valley it
Between difference；
Judgment module, for judging to detect whether duration is located at preset time window when the difference is greater than preset value
It is interior, the time span of the resultant acceleration is detected in when detection a length of deterministic process of once brushing teeth；
Logging modle then records brushing times and adds one for being located in preset time window when the duration.
Optionally, the N is 3.
Due in embodiments of the present invention, using three increment rotating vector algorithms, attitude quaternion is calculated, and to posture
Four elements carry out real-time update, obtain attitude angle, while establishing pose transformation matrix.Therefore the embodiment of the invention provides one kind
The Trajectory Arithmetic of high dynamic can be adapted for the trajectory calculation of toothbrush tail portion movement.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (8)
1. a kind of high dynamic trajectory processing method of nine axle sensors, which is characterized in that nine axle sensor is installed on carrier
On, which comprises
To time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtain
tkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is the time point of three increments, a0For constant, a1It is one
Secondary fitting coefficient, a2For quadratic fit coefficient；
According toCalculate equivalent rotating vectorFor equivalent rotating vector
Sample number, h are the posture renewal period；
According toCalculate attitude quaternionΦ is
Imitate rotating vectorAbsolute value；
Real-time update is carried out to four element of posture, obtains attitude angle, and establish pose transformation matrixΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from skWhen
It is carved into skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
The location information that the carrier is determined according to the attitude angle and pose transformation matrix obtains the track of the carrier.
2. the method according to claim 1, wherein
3. the method according to claim 1, wherein the carrier is toothbrush, it is described according to the attitude angle and
After the step of pose transformation matrix determines the location information of the carrier, obtains the track of the carrier, the method is also wrapped
It includes:
The acceleration information of nine axle sensors is acquired, and is synthesized, resultant acceleration is obtained；
Detect the peak value and valley of the resultant acceleration；
When there is a pair of of peak-to-valley value, the difference in the pair of peak-to-valley value between peak value and valley is calculated；
When the difference is greater than preset value, judge to detect whether duration is located in preset time window, when detection is a length of
The time span of the resultant acceleration is detected in deterministic process of once brushing teeth；
When the duration is located in preset time window, then records brushing times and add one.
4. the method according to claim 1, wherein the N is 3.
5. a kind of high dynamic trajectory processing device of nine axle sensors, which is characterized in that nine axle sensor is installed on carrier
On, described device includes:
Curve fitting module, for time interval [tk, tk+ T] on carrier angular speed carry out curve fitting, obtaintkFor the time point at k moment, T is the navigation period,For carrier angular speed, τ is three sons
The time point of sample, a0For constant, a1For once fitting coefficient, a2For quadratic fit coefficient；
First computing module is used for basisCalculate equivalent rotating vectorFor equivalent rotating vector sample number, h is the posture renewal period；
Second computing module is used for basisIt calculates
Attitude quaternionΦ is effect rotating vectorAbsolute value；
Processing module obtains attitude angle, and establish pose transformation matrix for carrying out real-time update to four element of postureΔ λ is from skMoment is to skLongitude increment when+D, Δ L are from skWhen
It is carved into skLatitude increment when+D, D are the navigational coordinate system update cycle, and L is the latitude where carrier；
Determining module obtains described for determining the location information of the carrier according to the attitude angle and pose transformation matrix
The track of carrier.
6. device according to claim 5, which is characterized in that
7. device according to claim 5, which is characterized in that the carrier is toothbrush, described device further include:
Acceleration synthesis module, acquires the acceleration information of nine axle sensors, and is synthesized, and resultant acceleration is obtained；
Detection module, for detecting the peak value and valley of the resultant acceleration；
Third computing module, for calculating in the pair of peak-to-valley value between peak value and valley when there is a pair of of peak-to-valley value
Difference；
Judgment module, for judging to detect whether duration is located in preset time window, institute when the difference is greater than preset value
The time span of the resultant acceleration is detected when stating detection in a length of deterministic process of once brushing teeth；
Logging modle then records brushing times and adds one for being located in preset time window when the duration.
8. device according to claim 5, which is characterized in that the N is 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811005591.6A CN109115224A (en) | 2018-08-30 | 2018-08-30 | A kind of high dynamic trajectory processing method and device of nine axle sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811005591.6A CN109115224A (en) | 2018-08-30 | 2018-08-30 | A kind of high dynamic trajectory processing method and device of nine axle sensors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109115224A true CN109115224A (en) | 2019-01-01 |
Family
ID=64860268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811005591.6A Pending CN109115224A (en) | 2018-08-30 | 2018-08-30 | A kind of high dynamic trajectory processing method and device of nine axle sensors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109115224A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110210067A (en) * | 2019-05-08 | 2019-09-06 | 合肥本源量子计算科技有限责任公司 | It is a kind of to determine method, apparatus based on the threshold lines for measuring track |
| CN110236560A (en) * | 2019-06-06 | 2019-09-17 | 深圳市联邦佳维工业装备有限公司 | Six axis attitude detecting methods of intelligent wearable device, system |
| CN110345942A (en) * | 2019-07-17 | 2019-10-18 | 哈尔滨工程大学 | A kind of three increment Compensation for Coning Error algorithm of interpolation based on angular speed input |
| CN111351483A (en) * | 2020-03-31 | 2020-06-30 | 北京控制工程研究所 | Recursive multi-subsample large dynamic inertial navigation method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020183959A1 (en) * | 2001-04-17 | 2002-12-05 | Unilever Home & Personal Care Usa, Division Of Conopco, Inc. | Toothbrush usage monitoring system |
| JP2009287940A (en) * | 2008-05-27 | 2009-12-10 | Nippon Telegr & Teleph Corp <Ntt> | Attitude-moving trajectory detector, detecting method, program, and recording medium |
| US20100145654A1 (en) * | 2007-11-19 | 2010-06-10 | Jin Sang Hwang | Apparatus of chasing posture of moving material object, method of chasing posture of moving material object, apparatus of chasing posture of toothbrush and method of chasing posture of toothbrush using the samelectric toothbrush and method for controlling thereof |
| CN103068277A (en) * | 2010-08-11 | 2013-04-24 | 布拉什盖特有限公司 | Toothbrushing monitoring device |
| CN104765952A (en) * | 2015-03-11 | 2015-07-08 | 成迪寒 | Tooth-brushing posture detection and assessment system |
| CN105466422A (en) * | 2015-12-02 | 2016-04-06 | 爱芽（北京）科技有限公司 | Algorithm for detecting position variation of toothbrush in mouth |
| CN106382912A (en) * | 2016-08-19 | 2017-02-08 | 西安电子科技大学 | A tooth brushing angle detecting device based on double sensors and a detecting method thereof |
| CN107167133A (en) * | 2017-05-24 | 2017-09-15 | 北京慧联科技有限公司 | A kind of brushing evaluation method and system |
-
2018
- 2018-08-30 CN CN201811005591.6A patent/CN109115224A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020183959A1 (en) * | 2001-04-17 | 2002-12-05 | Unilever Home & Personal Care Usa, Division Of Conopco, Inc. | Toothbrush usage monitoring system |
| US20100145654A1 (en) * | 2007-11-19 | 2010-06-10 | Jin Sang Hwang | Apparatus of chasing posture of moving material object, method of chasing posture of moving material object, apparatus of chasing posture of toothbrush and method of chasing posture of toothbrush using the samelectric toothbrush and method for controlling thereof |
| JP2009287940A (en) * | 2008-05-27 | 2009-12-10 | Nippon Telegr & Teleph Corp <Ntt> | Attitude-moving trajectory detector, detecting method, program, and recording medium |
| CN103068277A (en) * | 2010-08-11 | 2013-04-24 | 布拉什盖特有限公司 | Toothbrushing monitoring device |
| CN104765952A (en) * | 2015-03-11 | 2015-07-08 | 成迪寒 | Tooth-brushing posture detection and assessment system |
| CN105466422A (en) * | 2015-12-02 | 2016-04-06 | 爱芽（北京）科技有限公司 | Algorithm for detecting position variation of toothbrush in mouth |
| CN106382912A (en) * | 2016-08-19 | 2017-02-08 | 西安电子科技大学 | A tooth brushing angle detecting device based on double sensors and a detecting method thereof |
| CN107167133A (en) * | 2017-05-24 | 2017-09-15 | 北京慧联科技有限公司 | A kind of brushing evaluation method and system |
Non-Patent Citations (2)
| Title |
|---|
| 张泽 等: "捷联惯导四子样旋转矢量姿态更新算法", 《控制工程》 * |
| 李海涛 等: "等效旋转矢量法在旋转弹姿态解算中的应用", 《测试技术学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110210067A (en) * | 2019-05-08 | 2019-09-06 | 合肥本源量子计算科技有限责任公司 | It is a kind of to determine method, apparatus based on the threshold lines for measuring track |
| CN110210067B (en) * | 2019-05-08 | 2023-04-25 | 合肥本源量子计算科技有限责任公司 | Method and device for determining threshold straight line based on measurement track |
| CN110236560A (en) * | 2019-06-06 | 2019-09-17 | 深圳市联邦佳维工业装备有限公司 | Six axis attitude detecting methods of intelligent wearable device, system |
| CN110345942A (en) * | 2019-07-17 | 2019-10-18 | 哈尔滨工程大学 | A kind of three increment Compensation for Coning Error algorithm of interpolation based on angular speed input |
| CN111351483A (en) * | 2020-03-31 | 2020-06-30 | 北京控制工程研究所 | Recursive multi-subsample large dynamic inertial navigation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109115224A (en) | A kind of high dynamic trajectory processing method and device of nine axle sensors | |
| Luinge et al. | Measuring orientation of human body segments using miniature gyroscopes and accelerometers | |
| CN109579853B (en) | Inertial navigation indoor positioning method based on BP neural network | |
| CN101969848B (en) | An activity monitoring system insensitive to accelerations induced by external motion factors | |
| Luinge et al. | Inclination measurement of human movement using a 3-D accelerometer with autocalibration | |
| KR100947046B1 (en) | Apparatus of chasing posture of moving material object, method of chasing posture of moving material object, apparatus of chasing posture of toothbrush and method of chasing posture of toothbrush using the same | |
| CN108338791B (en) | Detection device and detection method for unsteady motion data | |
| Jiang et al. | A method to deal with installation errors of wearable accelerometers for human activity recognition | |
| JP2012513227A (en) | Walking monitor | |
| CN104127187A (en) | Wearable system and method for cardinal symptom quantitative detection of Parkinson patients | |
| JP5912415B2 (en) | Golf swing analysis apparatus and golf swing analysis method | |
| Bai et al. | Application of low cost inertial sensors to human motion analysis | |
| CN110319840A (en) | Conjugate gradient attitude algorithm method towards abnormal gait identification | |
| CN108132053A (en) | A kind of pedestrian track construction method, system and inertial measuring unit | |
| Brzostowski | Toward the unaided estimation of human walking speed based on sparse modeling | |
| JP6794793B2 (en) | Walking state estimation method, walking state estimation program and information processing device | |
| CN107376305A (en) | A kind of boxing hit energy computational methods based on Intelligent bracelet | |
| JP2009186244A (en) | Tilt angle estimation system, relative angle estimation system, and angular velocity estimation system | |
| JP2019122609A (en) | System and method for analysis of operation smoothness | |
| Lai et al. | Measuring toe clearance using a wireless inertial sensing device | |
| CN110013642B (en) | Method and system for determining motion state of intelligent stone lock and corresponding device | |
| CN109061215A (en) | A kind of speed detection method and wearable device based on wearable device | |
| CN109084765B (en) | Indoor walking positioning method and device for pedestrian and storage medium | |
| Truong et al. | Nonparametric regression-based step-length estimation for arm-swing walking using a smartphone | |
| Liu et al. | Novel approach for lower limb segment orientation in gait analysis using triaxial accelerometers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190101 |
|
| RJ01 | Rejection of invention patent application after publication |