CN109284006A - A kind of human motion capture device and method - Google Patents
A kind of human motion capture device and method Download PDFInfo
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- CN109284006A CN109284006A CN201811334444.3A CN201811334444A CN109284006A CN 109284006 A CN109284006 A CN 109284006A CN 201811334444 A CN201811334444 A CN 201811334444A CN 109284006 A CN109284006 A CN 109284006A
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Abstract
The invention discloses a kind of human motion capture device and corresponding methods, described device includes movement measuring unit, action reference variable unit, initialization unit, gait detection unit, displacement integrated unit, and movement measuring unit measures human body limb movement data and environmental data；Action reference variable unit merges human body limb movement data and environmental data, derives the kinematic parameter and environmental parameter of limbs；Initialization unit by between human body limb mutual restrictive condition and kinematical boundary condition be integrated into come, derive the initial operational parameter of human motion capture device；Gait detection unit detects the state of contacting to earth of current time human body lower limbs, obtains gait detection information；Displacement integrated unit is derived and exports the posture and location information of mass motion of the human body relative to the earth.The present invention has the characteristics that portability and practicability, is very suitable to be made into wearable capturing movement and analytical equipment, has in numerous areas and is widely applied.
Description
Technical field
This application involves human motion cognition technology fields, and in particular to a kind of sensor-based human motion capture dress
It sets and relevant human motion capture method.
Background technique
It now, can be according to each limbs of sportsman by perceiving and obtaining accurate human body attitude and position motion information
Motion trail analysis there are the problem of and improve training, can infer disease that may be present according to the variation of body gait,
High-caliber 3D game can be established according to the tracking of body motion information, can be tracked as counting according to human motion posture
Word film, virtual world construct lifelike role.But the randomness of human motion and complexity, human peripheral place
The diversity of environment, all to accurately human motion perception and acquisition bring huge challenge in real time.Therefore, it is badly in need of at present
It is a kind of not limited and be overcome human motion perception and the acquiring technology of external environmental interference by space-time, realize human body attitude and
The acquisition and reproduction of position motion information are health monitoring, rehabilitation training, dance training, sports analysis, film number
The application in the fields such as stunt, virtual reality, game and human-computer interaction provides key technology.
Currently, common capturing movement technology can be roughly divided into two types.
It is a kind of mainly to use high-precision video camera array.This kind of system is caught using the camera of multiple high-precision high sampling rates
The reflective marker on sporter joint is caught, product Vicon such as in the market.The patented technology of this respect has: application No. is
20080192116 United States Patent (USP) Real-time objects tracking and motion capture in sports
Event is a real-time moving target tracking system, it carrys out detection and tracking moving target using multiple video cameras, but does not relate to
And the movement details of target itself；The United States Patent (USP) System and method for motion of Patent No. 7457439
Capture is restored using the location information and sporter's three-dimensional motion model indicated with video camera sporter obtained
The three-dimensional motion information of body out, and three-dimensional motion model is utilized, compare motion state；Chinese patent " is obtained based on movement
Colored tight ", application number 00264404, devise it is a kind of human body is encoded with color lump movement obtain clothing；China
Patent " methods that processing passive optical movement obtains data ", application number 03120688 are that a kind of processing passive optical is moved and obtained
The method for evidence of fetching, comprising: the synchronization multiple-camera image for obtaining the subject with passive optical label, from the number of acquisition
According to one group of three-dimensional coordinate for obtaining label, correspondence in time between respectively marking in continuously acquiring is determined, so that it is determined that having
The position of the body part of the subject of label determines the fortune that subject motion projection arrives based on marking made by one group
The angle of each connection of movable model, and calculate the posture of subject；Chinese patent " the calibration of a kind of pair of multicamera system
Method and device ", application number 200710062825 are that a kind of multiple-camera is rebuild based on the three-dimensional motion information of index point
New method.The defect of this kind of system is that they need fixed laboratory, there are light and occlusion issue, when use by
The limitation in place and application scenarios；This kind of system uses the camera of multiple high-precision high sampling rates, and not only cost is extremely high
It is expensive, and structure is extremely complex, uses inconvenience；Also, the data volume of this kind of system processing is huge, cannot be in real time
Capture body motion information.
It is another kind of to use microsensor, it is attached on human body limb, measures and the three-dimensional position angle for estimating each limbs etc.
Motion information.This kind of microsensor is small in size, low energy consumption, measurement is direct, easy to wear, while not being limited by space-time, very
It is suitble to be made into the motion analyzing apparatus of wearing.The patented technology of this respect has: United States Patent (USP) System and Method for
Motion Capture in Natural Environments, IPC8 class: AGO1C2300FI, using being placed on parts of body
Ultrasound emission source and receiver, measure the position of corresponding site, then the corner gone out with inertia sensor measurement is come calibrating position
Measurement, to obtain the kinematic parameter of body.But due to having used ultrasonic sensor and inertial sensor (acceleration sensing
Device and gyroscope), making entirely to move acquisition system becomes complicated.200920108961.9 human motion capture three of Chinese patent
Dimension playback system proposes that a kind of only use or the main movement using microsensor obtain system, and whole system is with human motion
It include that sensor places wearing, the estimation of kinematic parameter, the constraint between kinematic parameter, human body three-dimensional based on model
The motion reappearance of image.This kind of system presently, there are technological challenge include that microsensor has its intrinsic problem, such as measure
Noise is big, and there are systemic bias；Inertial sensor can only measure change rate, and what it is such as accelerometer measures is acceleration, gyroscope
Measurement is angular speed, directly carries out integral estimated location and angular movement information to it, can generate the inclined of amount of exercise valuation
It moves；It is distributed measurement that microsensor, which carries out human motion estimation, i.e., sensor unit is respectively attached to each of human body
On limbs, whole posture and the position of human body can not be directly obtained.201110060074.0 human motion capture of Chinese patent dress
It sets and a kind of portable body motion capture devices is provided, joined using the estimation human motion of self-adapted sensor Data fusion technique
Number is merged and is estimated human body entirety using the initialization technique and Displacement Estimation technology of human motion capture device
The posture and location information of movement, this kind of system presently, there are technological challenge include that microsensor has its intrinsic problem,
Such as measure that noise is big, and there are systemic bias；Using complementary kalman filter method to each limb motion data and environmental data into
Row fusion, for larger interference or prolonged interference there are still very big error, four kinds of measurement models dynamic select at any time,
Increase calculation amount, reduces iterative rate；The algorithm is based on heterogeneous linear Filtering Model, improves the complexity of whole system；Noise
Quickly accumulative at any time with drift, cumulative errors are significant in the short time；Displacement algorithm is just for single and relatively simple movement
Gait.
Summary of the invention
Dedicated laboratory is needed, using by place to solve to have the capturing movement technology based on video camera array
Limitation, there are light and occlusion issue, and cost is extremely expensive, and data volume is huge, is difficult to handle in real time；And have based on miniature
The capturing movement technology measurement noise of sensor is big, and there are systemic bias, complementary Kalman filtering algorithm can not be eliminated for a long time
With larger interference to the error of the Attitude estimation of human body, location estimation is more single and simple, therefore asks using limited technology
Topic and technological challenge are transported the purpose of the present invention is estimating human body sport parameter using Data Fusion of Sensor technology using human body
The initialization technique and Displacement Estimation technology of dynamic acquisition equipment are merged and are estimated posture and the position of human body mass motion
Confidence breath, provides a kind of portable motion capture device thus.
In order to achieve the object of the present invention, one aspect of the present invention proposes that a kind of human motion capture device, including movement are surveyed
Measure unit, action reference variable unit, initialization unit, gait detection unit, displacement integrated unit, wherein motion measurement list
Member is for measuring human body limb movement data and environmental data；Action reference variable unit, for the human body limb movement
Data and environmental data are merged, and derive the kinematic parameter and environmental parameter of limbs；Initialization unit is used for human body
Mutual restrictive condition and kinematical boundary condition between limbs, which are integrated into, to be come, and derives the initial fortune of human motion capture device
Row parameter；Gait detection unit obtains gait detection information for detecting the state of contacting to earth of current time human body lower limbs；Displacement
Integrated unit, for receiving and to the initial operational parameter of the kinematic parameter of each limbs of human body, human motion capture device, each
Mutual restrictive condition and gait detection information between the length of limbs, each limbs are merged, and are derived and are exported human body phase
For the posture and location information of the mass motion of the earth.
According to the preferred embodiment of the present invention, the movement measuring unit includes multiple microsensor nodes and at least
One control unit, wherein the microsensor node is for sampling and measuring each limb motion data and environmental data；
Described control unit obtains the data of each microsensor node, and is sent to the action reference variable unit.
According to the preferred embodiment of the present invention, the action reference variable unit is using complementary Kalman filtering system pair
Each limb motion data and environmental data are merged, and derive the three-dimensional perspective valuation in each limb motion parameter.
According to the preferred embodiment of the present invention, it states gait detection unit and is also used to update complementary Kalman filtering system shape
State is to eliminate the liftoff rear cumulative errors generated of human body.
According to the preferred embodiment of the present invention, the gait detection unit includes support phase detection module, the module base
In azimuth of the sensor coordinate system of original I MU sensing data and current predictive relative to global coordinate system, and based on sensing
Device signal characteristic judges which gait phase foot's node is in.
According to the preferred embodiment of the present invention, gait detection unit executes the gait detection algorithm based on signal characteristic,
Posture of original sensor data, lower limb each sensor coordinate system of the algorithm based on each lower limb node with respect to global coordinate system
And the state compensation error of complementary Kalman filtering system output.
According to the preferred embodiment of the present invention, gait detection unit will support on the basis of gait phase detection algorithm
The rate integrating mean value in window is fixed during phase as drift caused by integral in window time equivalent, in swing phase product
It is removed when dividing estimating speed displacement.
According to the preferred embodiment of the present invention, the displacement integrated unit utilizes the initial fortune of human motion capture device
The kinematic parameter of each limbs of human body is transformed under body coordinate system by row parameter from sensor coordinate system, obtains body coordinate system
Under each limb motion parameter, and with human body generate and export the appearance of the mass motion of human body together relative to the displacement of the earth
State and location information.
Another aspect of the present invention proposes a kind of human motion capture method, comprising: measurement human body limb movement data and ring
Border data；The human body limb movement data and environmental data are merged, derive the kinematic parameter and environment ginseng of limbs
Number；By between human body limb mutual restrictive condition and kinematical boundary condition be integrated into come, derive human motion capture device
Initial operational parameter；The state of contacting to earth for detecting current time human body lower limbs, obtains gait detection information；It receives and to human body
The kinematic parameter of each limbs, the initial operational parameter of human motion capture device, the length of each limbs, the phase between each limbs
Mutual restrictive condition and gait detection information are merged, and the posture of mass motion of the human body relative to the earth is derived and export
And location information.
Beneficial effects of the present invention: the present invention is divided using the multiple microsensor nodes being attached on each limbs of human body
The exercise data and environmental data of each limbs are not measured.This microsensor, it is small in size, low energy consumption, measurement directly, cost
It is economical；It is easy to use, it is not controlled by space-time；Data volume is small, is able to carry out generating date and analysis；And light is not present
Line and occlusion issue, have the characteristics that portability and practicability, are very suitable to be made into wearable capturing movement and analysis dress
It sets, has in numerous areas and be widely applied, there is stronger practical value and application prospect.
Detailed description of the invention
Fig. 1 is the overall logic structural block diagram of the human motion capture device of one embodiment of the invention；
Fig. 2 is the structural block diagram of the movement measuring unit of one embodiment of the invention；
Fig. 3 is each important multiple microsensor node distribution maps of limbs of the human body of one embodiment of the invention；
Fig. 4 is structural block diagram of the action reference variable unit to action reference variable of one embodiment of the invention；
Fig. 5 is three coordinate systems in the human motion capture device of one embodiment of the invention and the pass between them
System；
Fig. 6 is the flow chart of the displacement integrated unit of one embodiment of the invention；
Fig. 7 is lower limb structure figure used in gait detection unit of the invention.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this need not be carried out using these specific details
Invention.In other instances, in order to avoid obscuring the present invention, well known structure, material or method are not specifically described.Entire
In specification, " one embodiment ", " embodiment ", " example " or " example " is referred to means that: in conjunction with the embodiment
Or a particular feature, structure, or characteristic of example description is comprised at least one embodiment of the invention.Therefore, it is entirely saying
Bright book it is each place occur the phrase " in one embodiment ", " in embodiment ", " example " or " example " it is different
It establishes a capital and refers to the same embodiment or example.Furthermore, it is possible in any suitable combination and/or sub-portfolio is by specific feature, structure
Or property combination is in one or more embodiment or examples.In addition, it should be understood by one skilled in the art that making here
Term "and/or" includes any and all combinations for the project that one or more correlations are listed.
Fig. 1 is the overall logic structural block diagram of motion capture devices of the present invention, and as shown in fig. 1, the present invention is by moving
Measuring unit 100, action reference variable unit 200, initialization unit 300, gait detection unit 400 and displacement integrated unit
500 compositions, in which:
Multiple microsensor nodes in movement measuring unit 100 are attached on each limbs of human body, for measuring and obtaining
To each limb motion data and environmental data；
The structure of movement measuring unit 100 includes: multiple microsensor nodes and one or several control units,
Each microsensor node has a unique address, by data/address bus by all microsensor nodes and control unit
It connects together, control unit selects different microsensor nodes by address bus, sends out to each microsensor node
Cloth control command obtains each road measurement data of each microsensor node, and hereafter control unit passes through wirelessly or non-wirelessly side
Formula is connect with action reference variable unit 200, and fetched data is uniformly sent to action reference variable unit 200.
Microsensor node includes microsensor and microcontroller, in which: microsensor is that miniature three-dimensional accelerates
It is a kind of or more to spend meter, miniature three-dimensional gyroscope, miniature three-dimensional magnetometer, miniature ultrasonic rangefinder or miniature ultra wide band rangefinder
Kind combination, for sampling and measuring each limb motion data and environmental data；Exercise data includes three-dimensional acceleration measurement data
With three-dimensional angular velocity measurement data, environmental data is three-dimensional magnetic field intensity measurement data；Microcontroller controls microsensor
Each limb motion data and environmental data are sampled and measured, and the exercise data of measurement and environmental data are packaged by wireless
The mode of connection is sent to control unit.
Action reference variable unit 200 is merged to the exercise data and environmental data of movement measuring unit 100,
It derives the kinematic parameter and environmental parameter of each limbs, also uses complementary kalman filter method to each limb motion in derivation
Data and environmental data are merged, and derive the three-dimensional perspective valuation in each limb motion parameter；The kinematic parameter of each limbs
Including three-dimensional acceleration valuation, three-dimensional velocity valuation, three-D displacement valuation, three-dimensional angular velocity valuation and three-dimensional perspective valuation, ring
Border parameter includes three-dimensional magnetic field intensity valuation.
Complementary Kalman filtering algorithm establishes error model, inclined with attitude error, displacement error, velocity error, gyroscope
Setting with the error of magnetic disturbance is state variable, and feedback mechanism is used in inertial navigation system, utilizes accelerometer observational variable
Error of tilt in gyroscope integral is compensated, using the compensation of magnetometer observation and gyroscope integral field component error, in conjunction with people
Body forward motion theory, merge gait detection information, after detecting support phase, can be performed ZUPT (zero velocity update) and
ZARU (zero angular velocity update), modifies the covariance matrix of algorithm, to be modified to system estimation state.In entire mistake
Cheng Zhong, two bias terms (the acceleration biasing and offset of gyroscope) moment in filtering algorithm keep updating, posture, speed and
Meeting zero setting after each iteration of position estimation error quantity of state updates, so that the drift of state estimation caused by integral be inhibited to miss
Difference.Algorithm makes full use of the output data of accelerometer and magnetometer, and drift caused by compensation gyroscope integral and interference fringe come
Angle estimation error, have significant correcting action to the real-time tracking of human body attitude.
Initialization unit 300, for receiving the kinematic parameter and environmental parameter of each limbs, and by the length of each limbs, each
Mutual restrictive condition and kinematical boundary condition between limbs, which are integrated into, to be come, and derives the initial fortune of human motion capture device
Row parameter.
The step of derivation human motion capture device initial operational parameter of initialization unit 300 is: human body is according to movement side
Boundary's condition makes initialization posture, at the same initialization unit 300 receive action reference variable unit 100 send in real time it is initial
The kinematic parameter and environmental parameter of each limbs under the conditions of change posture；According to the mutual restrictive condition between each limbs, attachment is established
Between multiple microsensor nodes on each limbs of human body topological relation mapping, then by kinematical boundary condition, initialization
The kinematic parameter of each limbs of human body and environmental parameter, which are integrated into, under the conditions of posture comes, and uses Bayesian network dynamical system again
It is filtered, derives the initial operational parameter of human motion capture device.
The initial operational parameter includes: the sensor coordinates of each microsensor node of movement measuring unit 100
It is the 210 three-dimensional perspective deviation and three-dimensional position deviation relative to the body coordinate system 220 of each limbs；220 phase of body coordinate system
For the initial three-dimensional perspective and initial three-dimensional position of global coordinate system 230；Wherein: the sensor coordinate system 210 is movement
The coordinate system of each of measuring unit 100 microsensor node itself；The body coordinate system 220 is each limb of human body
The coordinate system of body；The global coordinate system 230 is earth coordinates.
The kinematical boundary condition includes: human body when moving on level ground, the position of limbs landing part it is vertical
Component is zero；Human body done on level ground on foot, side step, sliding steps, mark time, run and when jumping, limbs landing part
Three-dimensional velocity and three-dimensional angular velocity be zero；Human body is stood naturally on level ground, and two are eyed to the front, then human body back
Place plane and level ground near normal and with human body direction of visual lines near normal；After human body is put one's palms together devoutly, if two when movement
The centre of the palm is opposite always, and ten fingers are opposite always, then two hand positions are approximately equal.
Gait detection unit 400 for detecting the state of contacting to earth of current time lower limb, while updating complementary Kalman's filter
Wave system mode is to eliminate the liftoff rear cumulative errors generated of human body, wherein including support phase detection module, which is to be based on
Azimuth of the sensor coordinate system of original I MU sensing data and current predictive relative to global coordinate system, and it is based on sensor
Signal characteristic judges which gait phase foot's node is in.To overcome motion complexity and signal noise to movement abnormal gait
The erroneous judgement of situation, gait detection unit 400 realizes a kind of gait simultaneously and mutually detects the mechanism that erroneous judgement is eliminated, after the two combines
The state of movement gait can be accurately detected for the gait motion of the overwhelming majority.
Original sensor data (mainly acceleration of the gait detection algorithm based on signal characteristic based on each lower limb node
And angular velocity data), each sensor coordinate system of lower limb it is defeated with respect to the posture of global coordinate system (quaternary number) and complementary filter algorithm
State compensation error out, support phase detection module is to motion state and gait phase real-time detection.Specifically by sensor coordinates
Initial data under system is transformed into global coordinate system, while isolating acceleration of motion.Herein on basis, extract useful
One of sensor signal (acceleration and gyroscope, or both) gait is mutually carried out roughly using the method for threshold test
Detection, the selection of threshold value largely using offline selection, can also be used adaptive threshold and choose mode (need to complete offline).
Judge the basic thought eliminated by accident are as follows: in the gait motion of short time (in such as of short duration several movement gait cycles),
The gait phase testing result at neighbouring sample moment can not generate mutation, and the data of IMU sensing unit are because by more in environment
There may be errors for kind interference, and then the testing result based on signal characteristic is caused to there is erroneous judgement.
It will on the basis of gait phase detection algorithm to reduce the speed estimation error generated by score accumulation drift
The rate integrating mean value in window is fixed during support phase as drift caused by integral in window time equivalent, is being swung
(speed displacement calibration) is removed when phase integral estimating speed is displaced, substantially thinking is as follows: in a gait cycle, support
During phase, each set time window updates integrating rate mean value, using this mean value as drift error.During swing phase, integral
Speed subtracts the drift error of final updating.
Be displaced integrated unit 500, for receive and to the kinematic parameter of each limbs, human motion capture device it is initial
Operating parameter and human body are merged relative to the displacement of the earth, derive and export posture and the position of the mass motion of human body
Confidence breath.Step is: using the initial operational parameter of human motion capture device by the kinematic parameter of each limbs of human body from sensing
Device coordinate system 210 is transformed under body coordinate system 220, obtains each limb motion parameter under body coordinate system 220, and and people
Body generates together and exports the posture and location information of the mass motion of human body relative to the displacement of the earth.
Here, we are formed miniature with three-dimensional micro accelerometer, three-dimensional micro gyroscope and three-dimensional micro magnetometer
Sensor node as an example, introduces the workflow and system structure of motion capture devices of the present invention.
Fig. 2 is the detailed composition figure of human motion capture device movement measuring unit 100, it gives signal simultaneously and adopts
Collection, process flow.Movement measuring unit 100 is made of multiple microsensor nodes and one or several control units.It is miniature
Sensor node can be connected with the wired mode of data/address bus with control unit, and control unit is in turn with side wirelessly or non-wirelessly
Formula is connected with master computer, and master computer is desk-top or portable.Action reference variable unit 200 is in a software form in analytic accounting
It is realized on calculation machine.One complete DATA REASONING s process is: assuming that sample rate was fs hertz, in each 1/fs seconds time slot
Interior, movement measuring unit 100 can be completed to act as follows, send a data acquisition instructions, micro sensing by control unit first
Microcontroller on device node starts to acquire data after receiving instruction；After the completion of acquisition, control unit by data-interface according to
The secondary data for receiving each microsensor node；After the data for having collected all microsensor nodes, control unit by this
A little data compressions are packaged, and are sent to communication interface.
In the above-mentioned methods, three-dimensional micro magnetometer, three dimension acceleration sensor and three-dimensional gyroscope are all optional.
According to the difference of the application, it can choose one such or two kinds, or even do not select any one therein, delete corresponding
Hardware constitutes new implementation method.
Human motion capture device of the present invention, as Fig. 3 shows each important multiple microsensor Node distributions of limbs of human body
Figure, limbs include: head, upper waist, middle waist, lower waist, left upper arm, left forearm, left hand, right upper arm, right forearm, the right hand, left thigh,
Left leg, left foot, right thigh and right crus of diaphragm need 16-20 microsensor node.The number of microsensor node, can be with
Increased or deleted according to application；The placement location of each microsensor node and direction, which are also not, to be fixed not
Become, can be adjusted according to using needs.In this example, each microsensor node includes microcontroller, three
Tie up accelerometer, three-dimensional gyroscope and three dimensional magnetometer.
If each limbs of human body wear movement measuring unit 100, each limb motion parameter of human body is ok
It measures and estimates.If we have been set up human skeleton model, the real-time capture and reproduction of human motion are exactly
It is possible.However, movement measuring unit 100 is worn on each limbs, if not doing the initial of human motion capture device
Change, then, the difference for dressing position each time can all influence measurement and estimated result, meanwhile, distributed measurement also can not be direct
Obtain whole posture and the position of human body.
For the human motion capture device for using high-precision video camera, all are carried out under earth coordinates.
As Fig. 5 shows three coordinate systems in human motion capture device and the relationship between them, comprising: sensor coordinate system
210, body coordinate system 220 and global coordinate system 230.Sensor coordinate system 210 is each of movement measuring unit 100
The coordinate system of microsensor node itself, each of movement measuring unit 100 microsensor node, there is one
With the mutually independent coordinate system of other nodes, the measurement data of each node is obtained under the sensor coordinate system of its own
, the kinematic parameter for each limbs that action reference variable unit 200 estimates is also relative to miniature biography accompanying on each limbs
The coordinate system of sensor node；Body coordinate system 220 is the coordinate system of each limbs of human body；Global coordinate system 230 is that the earth is sat
Mark system.In order to which each of distributed measurement, under respective sensor coordinate system, movement measuring unit 100 is miniature
Exercise data measured by sensor node and environmental data are united, and the kinematic parameter of all limbs is unified to one
Under coordinates frame, to obtain the mass motion of human body, and removes 100 wearing position difference of movement measuring unit and movement is caught
Obtain the influence with valuation, the mutual restrictive condition and moving boundaries item of initialization unit 300 of the invention according to each limbs of human body
Part sets the initial value and initial parameter of human motion capture device.Mutual restrictive condition between each limbs of human body, is each
Interconnection and interaction relation between limbs, if left thigh is connected to left leg, left leg is connected to left foot, left thigh fortune
The dynamic movement for being able to drive left leg and left foot, but together with left thigh is not directly coupled with left foot, the movement of left thigh
Foot can only be driven to move together by left leg.In addition, the movement of people is present in earth coordinates, human motion includes
Two parts, first is that in body coordinate system 220 each limbs movement, second is that three-dimensional position of the human body in global coordinate system 230
It moves, that is, movement of the body coordinate system 220 relative to global coordinate system 230.The present invention derives human body using gait as clue
Three-D displacement relative to earth coordinates.
Action reference variable unit 200, initialization unit 300, gait detection unit 400 and displacement is described in detail below
Integrated unit 500；When introducing action reference variable unit 200, the present invention is only estimated with the three-dimensional perspective of complementary Kalman filtering
It is illustrated for meter method:
As above, each microsensor node includes microcontroller and three-dimensional accelerometer, three-dimensional gyroscope and three-dimensional
These three microsensors of magnetometer.It, can be with using the three-dimensional perspective estimation method of complementary Kalman filtering provided by the invention
Estimate accurate three-dimensional angle of each surveyed limbs of microsensor node under sensor coordinate system 210.
The measurement of three-dimensional micro accelerometer is three-dimensional acceleration measurement data, and what measurement obtained in a stationary situation is gravity
Acceleration analysis data, be capable of providing the rotation angle of microsensor node with respect to the horizontal plane be inclination angle (Pitch) and
Roll angle (Roll)；
Three dimensional magnetometer measurement is three-dimensional magnetic field intensity measurement data, is capable of providing microsensor node around vertical side
It is yaw angle (Yaw) to the angle of rotation, principle is similar to compass；
Three-dimensional gyroscope measurement is three-dimensional angular velocity measurement data, can be obtained to three-dimensional angular velocity measurement data integral
Three-dimensional rotation angle.
Influence of the accuracy for three kinds of microsensor data that microsensor node measurement obtains by many aspects,
It is the measurement accuracy and error of three kinds of microsensors first, physical message is being converted to digital signal by microsensor
Inevitably there is error in the process.Secondly as the data of microsensor measurement will receive interference, such as three-dimensional micro-
What type accelerometer measurement obtained is three-dimensional acceleration measurement data, and what is measured in static or quasi-static situation is gravity
Acceleration analysis data, but biggish human motion acceleration can be introduced when human body quickly moves；Three-dimensional micro magnetometer
Measurement is three-dimensional earth magnetic field intensity measurement data, but the data that actual measurement obtains will receive ferromagnetic material around
Magnetic interference.In addition, when carrying out integral to three-dimensional angular velocity measurement data and seeking angle, digital signal error it is tired
Product can generate the drift error built up with the time.So merging to obtain angle carrying out information to these three data
Spend information during, it is necessary first to these microsensor data are denoised, calibrate and temperature-compensating pretreatment, then
It needs to consider various possible disturbed conditions, extracts available information therein as far as possible.On the other hand, the requirement of real-time of system
Our fusion method can have low computation complexity in the case where guaranteeing the accuracy of estimation as far as possible.
Based on above analysis, the angle for the complementary Kalman filtering that action reference variable unit 200 of the present invention provides is estimated
Meter method, flow chart as shown in figure 4,
Obtained original observed data is measured movement measuring unit 100 first and carries out pretreatment operation, and pretreatment includes
Denoising, calibration and temperature-compensating.After pretreatment, the method for other kinematic parameters of the estimation of action reference variable unit 200
In the same way, details are not described herein again.The kinematic parameter that note action reference variable unit 200 is estimated is that it represents microsensor
Kinematic parameter and environmental parameter of the surveyed limbs of node in moment t under sensor coordinate system 210, it may include three dimensional angular
Degree, i.e., the accurate three-dimensional angle estimated by the three-dimensional perspective estimation method of above-mentioned complementary Kalman filtering can also include three
Tie up location estimate, three-dimensional velocity valuation, three-dimensional acceleration valuation, three-dimensional perspective valuation and three-dimensional magnetic field intensity valuation.If people
Each limbs of body wear n microsensor node in movement measuring unit 100, then, the three-dimensional position angle of each limbs
Degree can be obtained using the three-dimensional perspective estimation method of complementary Kalman filtering.However, action reference variable unit 200 is estimated
The three-dimensional position angle for each limbs counted out is the sensor coordinate system relative to microsensor node accompanying on each limbs
Under, it is necessary to by under the orientation angles unification a to coordinates frame of all limbs, the mass motion appearance of human body could be obtained
State and location information.In addition, motion measurement 110 is worn on each limbs, the difference for dressing position each time can all influence to survey
Amount and estimated result,
Thus initial operational parameter of the initialization unit estimation in addition to human motion capture device.It is opposite in order to obtain human body
In the movement of the earth, need to estimate three-D displacement of the human body under earth coordinates.Displacement can be by each limbs of human body three
The dual-integration of acceleration of motion is tieed up to obtain.But since the three-dimensional acceleration that action reference variable unit estimation goes out measures
Data are the vector sum of acceleration of gravity and human motion acceleration under sensor coordinate system 210, thus need first to separate
Human motion component of acceleration, and the three-dimensional perspective obtained using action reference variable unit 200 by it from sensor coordinate system
Be transformed under 210 under global coordinate system 230, then to quadratic integral can just obtain human body each limbs during the motion
Displacement.But since the unknown of integral constant, action reference variable unit 200 estimate obtained three-dimensional perspective information error
In the presence of the presence drifted about with three-dimensional micro accelerometer itself, the error that integral obtains position can be flat with growing into for time
The accumulation of square coefficient, the position obtained later is quite unreliable within several seconds.
Unlimitedly increase to constrain to drift about in integral process, need to introduce kinematical boundary condition, as zero velocity updates
Algorithm.The present invention provides a kind of gait detection algorithm based on signal characteristic, i.e. gait detection unit 400 moves to detect
State.The basic skills of zero velocity more new algorithm be done on level ground using human body on foot, side step, sliding steps, mark time, run
Step and when jumping, lower margin three-dimensional velocity and three-dimensional angular velocity be zero this kinematical boundary condition, this section that foot lands
Time is referred to as support phase；During valuation, the foot in support phase remains static, and the foot in this period is arranged
Speed is zero, to reduce the accumulation of error among each for being limited on foot by the accumulation of error strides.The unit
To motion state and gait phase real-time detection, the initial data under sensor coordinate system is specifically transformed into global coordinate system,
Acceleration of motion is isolated simultaneously.Herein basis on, extract useful sensor signal (acceleration and gyroscope, or both
One of) gait is mutually detected roughly using the method for threshold test, the selection of threshold value is largely using offline choosing
It selects, adaptive threshold can also be used and choose mode (need to complete offline).
The present invention is displaced integrated unit method flow diagram as shown in fig. 6, gait detection unit 400 detects what human body landed
Limbs, determine human body lower margin；According to kinematical boundary condition, gait time parameter is detected；And to action reference variable unit
The 200 each limb motion parameters of human body and environmental parameter for capturing and deriving, 300 initial operational parameter institute of initialization unit
The initial operational parameter for the human motion capture device derived, the mutual limitation item between the length of each limbs, each limbs
Part is further merged, and by the above parameter, the data of kinematical boundary condition are transmitted to human body using human cinology
Each limbs, to acquire displacement of the human body relative to the earth.This example remembers that pelvis is root node, illustrates by taking root node as an example
The basic skills of human cinology's transmitting, associated is each limbs of human body lower limbs.Each limbs of human body lower limbs are mainly by seven pieces
Bone forms, and lower limb structure figure used in Displacement Estimation unit as shown in Figure 7 includes pelvis, left and right femur, left and right shin bone
With left and right foot, the present invention transmits displacement information between each limbs of lower limb using human cinology, to obtain root node
Displacement.
It should be appreciated that in order to simplify the present invention and help it will be understood by those skilled in the art that various aspects of the invention,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is retouched in a single embodiment sometimes
It states, or is described referring to single figure.But the feature that should not be construed to include in exemplary embodiment by the present invention is equal
For the essential features of patent claims.
It should be appreciated that can be carried out to module, unit, component for including in the equipment of one embodiment of the present of invention etc.
It is adaptively changed so that they are arranged in equipment unlike this embodiment.Can include the equipment of embodiment
Disparate modules, unit or assembly are combined into module, a unit or assembly, and also they can be divided into multiple submodule, son are single
Member or sub-component.
Module, unit or assembly in the embodiment of the present invention can realize in hardware, can also with one or
The software mode run on multiple processors is realized, or is implemented in a combination thereof.Those skilled in the art should manage
Microprocessor or digital signal processor (DSP) can be used in practice to realize according to embodiments of the present invention in solution.This
Invention be also implemented as some or all computer program product by executing method as described herein or based on
On calculation machine readable medium.
Claims (10)
1. a kind of human motion capture device, including movement measuring unit, action reference variable unit, initialization unit, gait
Detection unit, displacement integrated unit, wherein
Movement measuring unit is for measuring human body limb movement data and environmental data；
Action reference variable unit derives limbs for merging to the human body limb movement data and environmental data
Kinematic parameter and environmental parameter；
Initialization unit, for by between human body limb mutual restrictive condition and kinematical boundary condition be integrated into come, derive
The initial operational parameter of human motion capture device；
Gait detection unit obtains gait detection information for detecting the state of contacting to earth of current time human body lower limbs；
It is displaced integrated unit, the initial launch of kinematic parameter, human motion capture device for receiving and to each limbs of human body
Parameter, the length of each limbs, the mutual restrictive condition between each limbs and gait detection information are merged, and are derived and are exported
Posture and location information of the human body relative to the mass motion of the earth.
2. human motion capture device as described in claim 1, which is characterized in that the movement measuring unit includes multiple micro-
Type sensor node and at least one control unit, wherein
The microsensor node is for sampling and measuring each limb motion data and environmental data；
Described control unit obtains the data of each microsensor node, and is sent to the action reference variable unit.
3. human motion capture device as described in claim 1, which is characterized in that the action reference variable unit is using mutual
It mends Kalman filtering system to merge each limb motion data and environmental data, derives three in each limb motion parameter
Tie up angle valuation.
4. human motion capture device as claimed in claim 3, which is characterized in that the gait detection unit is also used to update
Complementary Kalman filtering system state is to eliminate the liftoff rear cumulative errors generated of human body.
5. human motion capture device as claimed in claim 3, which is characterized in that the gait detection unit includes support phase
Detection module, sensor coordinate system of the module based on original I MU sensing data and current predictive is relative to global coordinate system
Azimuth, and judge which gait phase foot's node is in based on sensor signal features.
6. human motion capture device as claimed in claim 5, which is characterized in that gait detection unit executes special based on signal
The gait detection algorithm of sign, original sensor data, lower limb each sensor coordinate system of the algorithm based on each lower limb node are opposite
The posture of global coordinate system and the state compensation error of complementary Kalman filtering system output.
7. human motion capture device as claimed in claim 6, which is characterized in that gait detection unit mutually detects calculation in gait
On the basis of method, using the rate integrating mean value fixed during support phase in window as caused by integral in window time equivalent
Drift is removed when swinging the displacement of phase integral estimating speed.
8. human motion capture device as claimed in claim 6, which is characterized in that the displacement integrated unit is transported using human body
The kinematic parameter of each limbs of human body is transformed into body from sensor coordinate system (210) and sat by the initial operational parameter of dynamic acquisition equipment
Under mark system (220), each limb motion parameter under body coordinate system (220) is obtained, and and displacement one of the human body relative to the earth
Act the posture and location information for generating and exporting the mass motion of human body.
9. a kind of human motion capture method, comprising:
Measure human body limb movement data and environmental data；
The human body limb movement data and environmental data are merged, derive the kinematic parameter and environmental parameter of limbs；
By between human body limb mutual restrictive condition and kinematical boundary condition be integrated into come, derive human motion capture device
Initial operational parameter；
The state of contacting to earth for detecting current time human body lower limbs, obtains gait detection information；
Receive and to the length of the initial operational parameter of the kinematic parameter of each limbs of human body, human motion capture device, each limbs,
Mutual restrictive condition and gait detection information between each limbs are merged, and are derived and are exported human body relative to the whole of the earth
The posture and location information of body movement.
10. human motion capture method as claimed in claim 9, which is characterized in that the action reference variable unit uses
Complementary Kalman filtering system merges each limb motion data and environmental data, derives in each limb motion parameter
Three-dimensional perspective valuation.
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