CN114353789B - UWB and IMU fused data acquisition and analysis method, system and device - Google Patents

UWB and IMU fused data acquisition and analysis method, system and device Download PDF

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CN114353789B
CN114353789B CN202111572943.8A CN202111572943A CN114353789B CN 114353789 B CN114353789 B CN 114353789B CN 202111572943 A CN202111572943 A CN 202111572943A CN 114353789 B CN114353789 B CN 114353789B
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data
foot
uwb
right foot
left foot
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CN114353789A (en
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李漩
刘思平
张鑫
聂娟
祝云飞
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Beijing Bingfeng Technology Co ltd
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Beijing Bingfeng Technology Co ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a data acquisition and analysis method, a system and a device for fusing UWB and IMU, wherein the method comprises the following steps: obtaining left foot positioning data and right foot positioning data corresponding to each moment according to the UWB data of the left foot and the UWB data of the right foot; obtaining the actions of the left foot and the actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the left foot and the IMU inertial navigation data of the right foot; obtaining left foot positioning data, left foot ice data and left foot sliding data corresponding to each moment according to the action of the left foot; obtaining right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment according to the action of the right foot; sequentially combining left foot positioning data, left foot ice data and left foot sliding data corresponding to each moment according to the moment, and displaying; and combining right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment in sequence according to the moment, and displaying. The invention can objectively judge the actions and states of athletes at all moments.

Description

UWB and IMU fused data acquisition and analysis method, system and device
Technical Field
The invention relates to the technical field of wireless UWB positioning and communication, in particular to a data acquisition and analysis method, a system and a device for integrating UWB and IMU.
Background
The data acquisition means of the current speed skating (including short and large roads) project in training is single, the sliding result of the athlete is mainly evaluated through timing equipment, if the sliding process is further analyzed, the picture during sliding can only be acquired through video, the specific analysis can only be through the subjective experience of a coach, and key data such as the speed and direction, the acceleration and direction, the force and direction of each point during sliding and the accurate track during sliding (used for analyzing whether the bending and advancing line of the athlete is reasonable or not) can not be objectively given.
In summary, how to collect real-time data of each point of the athlete in the whole sliding process in real time, including the speed and direction, the acceleration and direction, the force and direction and the position relative to the ground, and make objective judgment on the actions and states of the athlete at various moments based on the data, so as to guide the athlete to train more specifically, help the athlete to improve the performance, and become a problem to be solved in the art.
Disclosure of Invention
The invention aims to provide a data acquisition and analysis method, a system and a device for fusing UWB and IMU, which can objectively judge the actions and states of athletes at all moments.
In order to achieve the above object, the present invention provides the following solutions:
a data acquisition analysis method fusing UWB and IMU, the method comprising:
acquiring UWB data of a left foot, UWB data of a right foot, IMU inertial navigation data of the left foot and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data comprises coordinate values; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot, and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot; the left foot positioning data comprise a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data comprise a right foot position, a right foot moved distance and a right foot speed;
obtaining actions of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot, and obtaining actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice pedaling and sliding;
when the motion of the left foot is ice pedaling, obtaining left pedal ice data corresponding to each moment according to IMU inertial navigation data of the left foot; when the motion of the left foot is sliding, obtaining left foot sliding data corresponding to each moment according to the IMU inertial navigation data of the left foot; the left foot ice-pedaling data comprise the duration, direction and force of each time of the left foot ice-pedaling; the left foot sliding data comprise the duration and the direction of each sliding of the left foot;
When the motion of the right foot is ice pedaling, obtaining right pedal ice data corresponding to each moment according to the IMU inertial navigation data of the right foot; when the motion of the right foot is sliding, obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot; the right foot ice-pedaling data comprise the time length, direction and force of each right foot ice-pedaling; the right foot sliding data comprise the duration and the direction of each sliding of the right foot;
combining the left foot positioning data, the left foot ice data and the left foot sliding data corresponding to each moment in sequence according to the moment, and displaying;
and combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment in sequence according to the moment, and displaying.
Optionally, the acquiring UWB data of the left foot, UWB data of the right foot, IMU inertial navigation data of the left foot, and IMU inertial navigation data of the right foot corresponding to each moment further includes:
acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
generating left foot UWB data by using a TDOA algorithm according to the left foot UWB positioning data corresponding to the real position;
And generating right foot UWB data by using a TDOA algorithm according to the right foot UWB positioning data corresponding to the real position.
Optionally, the obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot, and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot specifically includes:
obtaining the left foot position corresponding to each moment according to the UWB data of the left foot;
obtaining the corresponding left foot moved distance at each moment according to the left foot position;
obtaining left foot speeds corresponding to all moments according to the moved distance of the left foot;
obtaining right foot positions corresponding to all moments according to the UWB data of the right foot;
obtaining the right foot moved distance corresponding to each moment according to the right foot position;
and obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
Optionally, the obtaining the motion of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot, and obtaining the motion of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot specifically includes:
acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment;
Acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment;
calculating a left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating a right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference value between the second acceleration and the fourth acceleration;
when the acceleration change value of the left foot at the current moment is not 0, determining that the motion of the left foot corresponding to the current moment is ice pedaling; when the left foot acceleration change value at the current moment is 0, determining that the motion of the left foot corresponding to the current moment is sliding;
when the acceleration change value of the right foot at the current moment is not 0, determining the motion of the right foot corresponding to the current moment as ice pedaling; and when the acceleration change value of the right foot at the current moment is 0, determining the action of the right foot corresponding to the current moment to be sliding.
The invention also provides the following scheme:
a data acquisition analysis system that fuses UWB and IMU, the system comprising:
the UWB and IMU data acquisition module is used for acquiring UWB data of the left foot, UWB data of the right foot, IMU inertial navigation data of the left foot and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data comprises coordinate values; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
the left foot positioning data and right foot positioning data obtaining module is used for obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot; the left foot positioning data comprise a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data comprise a right foot position, a right foot moved distance and a right foot speed;
the left foot and right foot action obtaining module is used for obtaining actions of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot and obtaining actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice pedaling and sliding;
the left foot pedal ice sliding data obtaining module is used for obtaining left foot pedal ice data corresponding to each moment according to the IMU inertial navigation data of the left foot when the motion of the left foot is ice pedaling, and also used for obtaining left foot sliding data corresponding to each moment according to the IMU inertial navigation data of the left foot when the motion of the left foot is sliding; the left foot ice-pedaling data comprise the duration, direction and force of each time of the left foot ice-pedaling; the left foot sliding data comprise the duration and the direction of each sliding of the left foot;
The right foot pedal ice sliding data obtaining module is used for obtaining right foot pedal ice data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is ice pedaling, and also used for obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is sliding; the right foot ice-pedaling data comprise the time length, direction and force of each right foot ice-pedaling; the right foot sliding data comprise the duration and the direction of each sliding of the right foot;
the left foot data combined display module is used for sequentially combining the left foot positioning data, the left foot ice-pedaling data and the left foot sliding data corresponding to each moment according to the moment and displaying the left foot positioning data, the left foot ice-pedaling data and the left foot sliding data;
the right foot data combining display module is used for combining the right foot positioning data, the right foot ice-pedaling data and the right foot sliding data corresponding to all the moments in sequence according to the moments and displaying the combined right foot positioning data, the right foot ice-pedaling data and the right foot sliding data.
Optionally, the UWB and IMU data acquisition module further comprises:
the left foot UWB positioning data acquisition module and the right foot UWB positioning data acquisition module are used for acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
the left foot UWB data generation module is used for generating left foot UWB data by using a TDOA algorithm according to the left foot UWB positioning data corresponding to the real position;
And the right foot UWB data generation module is used for generating right foot UWB data by using a TDOA algorithm according to the right foot UWB positioning data corresponding to the real position.
Optionally, the left and right foot positioning data obtaining module specifically includes:
the left foot position obtaining unit is used for obtaining the left foot position corresponding to each moment according to the UWB data of the left foot;
the left foot moved distance obtaining unit is used for obtaining the left foot moved distance corresponding to each moment according to the left foot position;
the left foot speed obtaining unit is used for obtaining the left foot speed corresponding to each moment according to the moved distance of the left foot;
the right foot position obtaining unit is used for obtaining right foot positions corresponding to all moments according to the UWB data of the right foot;
the right foot moved distance obtaining unit is used for obtaining the right foot moved distance corresponding to each moment according to the right foot position;
and the right foot speed obtaining unit is used for obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
Optionally, the left and right foot motion obtaining module specifically includes:
the current time acceleration acquisition unit is used for acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment;
The last moment acceleration acquisition unit is used for acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment;
the left foot acceleration and right foot acceleration change value calculation unit is used for calculating a left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating a right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference value between the second acceleration and the fourth acceleration;
the left foot action determining unit is used for determining that the action of the left foot corresponding to the current moment is ice pedaling when the left foot acceleration change value at the current moment is not 0 and determining that the action of the left foot corresponding to the current moment is sliding when the left foot acceleration change value at the current moment is 0;
and the right foot action determining unit is used for determining that the action of the right foot corresponding to the current moment is ice pedaling when the right foot acceleration change value at the current moment is not 0 and determining that the action of the right foot corresponding to the current moment is sliding when the right foot acceleration change value at the current moment is 0.
The invention also provides the following scheme:
the data acquisition and analysis device integrating UWB and IMU is characterized by comprising a left foot tag, a right foot tag, at least four UWB positioning base stations, a UWB engine server and a data acquisition and analysis system integrating UWB and IMU;
the left foot tag is worn on the left ankle of the athlete; the right foot tag is worn on the ankle of the right foot of the athlete; the left foot tag comprises a first UWB positioning tag and a first IMU sensor; the right foot tag comprises a second UWB positioning tag and a second IMU sensor; the first UWB positioning tag is used for sending UWB pulse signals of a left foot to the UWB positioning base station; the first IMU sensor is used for outputting IMU inertial navigation data of the left foot corresponding to each moment; the second UWB positioning tag is used for sending UWB pulse signals of the right foot to the UWB positioning base station; the second IMU sensor is used for outputting IMU inertial navigation data of the right foot corresponding to each moment; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
the four UWB positioning base stations are respectively arranged around the rapid sliding field; the four UWB positioning base stations are mutually connected; the four UWB positioning base stations are connected with the first UWB positioning tag, the second UWB positioning tag and the UWB engine server; the UWB positioning base station is used for receiving UWB pulse signals sent by the UWB positioning tag, obtaining UWB positioning data according to the UWB pulse signals and sending the UWB positioning data to the UWB engine server;
The UWB engine server is connected with the data acquisition and analysis system fusing UWB and IMU; the UWB engine server is used for receiving the UWB positioning data sent by the UWB positioning base station, corresponding the UWB positioning data to the real position of the rapid-skating site, obtaining UWB positioning data corresponding to the real position, and sending the UWB positioning data corresponding to the real position to the data acquisition and analysis system fusing UWB and IMU; the UWB positioning data corresponding to the real position comprises left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
the data acquisition and analysis system fusing UWB and IMU is respectively connected with the first IMU sensor and the second IMU sensor; the data acquisition and analysis system integrating UWB and IMU is used for receiving the UWB positioning data corresponding to the real position and the IMU inertial navigation data, obtaining left foot positioning data, left foot ice data, left foot sliding data, right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment according to the UWB positioning data corresponding to the real position and the IMU inertial navigation data, combining the left foot positioning data, the left foot ice data and the left foot sliding data corresponding to each moment in sequence according to the moment, displaying, and combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment in sequence according to the moment in sequence.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a data acquisition and analysis method, a system and a device for fusing UWB and IMU, which are characterized in that the UWB data of a left foot is utilized to obtain the position of the left foot, the moved distance of the left foot and the speed of the left foot, the UWB data of a right foot is utilized to obtain the position of the right foot, the moved distance of the right foot and the speed of the right foot, the IMU inertial navigation data of the left foot is utilized to determine whether the motion of the right foot is ice-pedaling or ice-pedaling, if ice-pedaling, the motion of the left foot is ice-pedaling or ice-skating, the time length and the direction of each ice-pedaling are obtained according to the IMU inertial navigation data of the right foot, the time length and the direction of each ice-pedaling are sequentially combined with the corresponding time length, the left foot moved distance, the left foot and the direction of each ice-pedaling, the motion of each ice-pedaling, and the speed of each ice-pedaling, and the motion of each athlete is further displayed according to the time length, the time length and the motion of each ice-pedaling, and the motion of each ice-pedaling is further displayed according to the time length and the motion of each ice, and the motion of each ice-training of the athlete is further combined with the time and the time length and the motion of each ice.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method of data acquisition and analysis of the present invention that merges UWB and IMU;
FIG. 2 is a schematic diagram of a graph showing the change of the ice-pushing time with distance according to the present invention;
FIG. 3 is a schematic diagram of a data acquisition and analysis method of the present invention incorporating UWB and IMU;
FIG. 4 is a schematic diagram of a data acquisition and analysis method of the present invention which merges UWB and IMU;
FIG. 5 is a schematic diagram of the UWB positioning principle of the present invention;
FIG. 6 is a block diagram of an embodiment of a data acquisition analysis system of the present invention incorporating UWB and IMU;
fig. 7 is a block diagram of an embodiment of a data acquisition and analysis device of the present invention incorporating UWB and IMU.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a data acquisition and analysis method, a system and a device for fusing UWB and IMU, which can objectively judge the actions and states of athletes at all moments.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
FIG. 1 is a flow chart of an embodiment of a method of data acquisition and analysis of the present invention that merges UWB and IMU.
Referring to fig. 1, the data acquisition and analysis method for fusing UWB and IMU includes:
step 101: acquiring UWB data of a left foot, UWB data of a right foot, IMU inertial navigation data of the left foot and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data includes coordinate values; the IMU inertial navigation data comprises triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration.
This step 101 is used to acquire UWB data.
Step 102: obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot, and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot; the left foot positioning data comprises a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data includes a right foot position, a right foot moved distance, and a right foot speed.
Step 103: obtaining actions of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot, and obtaining actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice-stepping and skating.
Step 104: when the action of the left foot is ice pedaling, obtaining left ice pedaling data corresponding to each moment according to IMU inertial navigation data of the left foot; when the motion of the left foot is sliding, obtaining left foot sliding data corresponding to each moment according to the IMU inertial navigation data of the left foot; the left foot ice-pedaling data comprise the time length, direction and force of each time of the left foot ice-pedaling; the left foot taxi data includes the length and direction of each taxi of the left foot.
Step 105: when the motion of the right foot is ice pedaling, obtaining right ice pedaling data corresponding to each moment according to IMU inertial navigation data of the right foot; when the motion of the right foot is sliding, obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot; the right foot ice-pressing data comprise the time length, direction and force of each ice-pressing of the right foot; the right foot taxi data includes the length and direction of each taxi of the right foot.
Step 106: and combining left foot positioning data, left foot ice data and left foot sliding data corresponding to all the moments in sequence according to the moments, and displaying.
Step 107: and combining right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment in sequence according to the moment, and displaying.
Step 106 and step 107 perform fusion processing on the UWB data and the IMU inertial navigation data, and correspond the UWB data and the IMU inertial navigation data to data at different moments through time stamps in the UWB data, and if some data at a certain moment is missing, the data are supplemented through interpolation.
According to the invention, through respectively analyzing the fused data of the left foot and the right foot (fusion means that UWB data and inertial navigation data on each supporting leg are fused), determining which foot is pedaling ice and which foot is sliding according to the change condition of acceleration, and respectively calculating the distance and the pedaling ice sliding time of each left foot and each right foot. And determining the time of each ice-pushing and sliding according to the IMU data, and determining the distance through UWB data in the corresponding time. The athlete adjusts the speed by changing the ice-pushing time, so the data obtained according to the steps can draw a curve of the ice-pushing time length along with the time/distance change, which is used for a coach to analyze the technical characteristics of the athlete, fig. 2 is a curve of the ice-pushing time length along with the distance change, as shown in fig. 2, part (a) of fig. 2 is a curve of the ice-pushing time length along with the distance change when in straight road, and part (b) is a curve of the ice-pushing time length along with the distance change when in curve. The two ends of the straight channel are connected with the curved channel, that is, the starting point of the straight channel is just out of the curved channel, and the end point of the straight channel is just in the curved channel. The ice-pushing time of the left foot and the ice-pushing time of the right foot are combined together for analysis in fig. 2, the left foot and the right foot are not distinguished, and the data of the ice-pushing time are drawn into a graph according to the distance as an abscissa. Fig. 2 is only an example of an application, through which other data applications can be mined, and a coach can use the real-time data obtained by the invention during skating of an athlete according to their needs, for example, when drawing a force-time curve, it can be seen that the force-time curve is completely different from the force-time curve during straight-line skating during curve skating. The main difference from the straight-line stage force is that there is no intermediate process of ice-pushing force being smaller than gravity at the end of the maximum ice-pushing force when the ice is pushed and received. This can be explained by the fact that: when the runner slides on a curve, the athlete does not transition from the outer edge to the flat edge like when the runner slides on a straight line. Therefore, the assumed centrifugal force does not occur. In the process of transferring the body weight from one leg to the other leg, the support leg always performs ice-pushing action at the inner edge of the right knife and the outer edge of the left knife at the projection point of the gravity center. Compared with straight roads, it can be said that free-running is avoided in curve sliding, and marrow extension and knee extension are advanced. In addition, the left foot data and the right foot data can be separately drawn, and according to the difference between the left foot data and the right foot data and the curve graph, a coach can analyze the difference between the left foot and the right foot of an athlete, and a specific training scheme is designated.
Specifically, step 101 further includes:
and acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position.
And generating the UWB data of the left foot by using a TDOA algorithm according to the UWB positioning data of the left foot corresponding to the real position.
And generating right foot UWB data by using a TDOA algorithm according to the right foot UWB positioning data corresponding to the real position.
Generating specific positions (namely UWB data of the left foot and UWB data of the right foot obtained in the step 101) of the tele-mobilization moment on the ice rind by using a TDOA algorithm for the obtained UWB positioning data corresponding to the real positions before the step 101; wherein UWB (UltraWide Band) is ultra wideband, by arranging UWB positioning base stations around the speed skating site respectively, as shown in FIG. 3 and FIG. 4, the rectangle formed by the base stations surrounds the speed skating site entirely; all UWB positioning base stations are connected through an exchanger and are simultaneously communicated with a UWB engine server; the UWB positioning base station is connected with a private network in a wired or wireless mode and interacts with the UWB engine server; the source positioning tag is matched and worn on the body of the athlete (on the left ankle and the right ankle), and the tag is provided with a unique ID mark; setting the name, number and unique ID of the tag of the athlete on the UWB engine server; the UWB engine server deploys and configures the positioning data through a running positioning acquisition program and a site electronic map according to the positioning data transmitted by the positioning base station, and processes the positioning data through a system service program to realize that the positioning data corresponds to the site real position, and finally left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position are obtained.
The TDOA algorithm is a positioning algorithm commonly used in the art, and specifically includes the following:
after the athlete enters the field area, the UWB positioning device worn on the athlete body sends UWB pulse signals to each base station, and the time when the radio frequency pulse reaches the positioning reference point is obtained. According to the geometric principle of positioning:
where (x, y) represents the coordinates of the current player's location (left or right foot position) based on the coordinate system of the enclosed field area. (x) i ，y i ) Representing the location coordinates of a plurality of base stations installed at the site. c is the propagation speed of the UWB electromagnetic wave, which can be calculated from the light speed, Δt is the time for the radio frequency pulse, which is tested using UWB technology, to reach the positioning reference point, and d represents the distance.
The square of both sides yields the following formula:
and (3) deducing:
substituting the position coordinates of a plurality of base stations of the installation site one by one:
let i=1, then d 1,1 =0, yielding:
formula (VI)Subtracting formulaObtaining:
and (3) finishing the formula:
and (3) making:
x i,1 ＝x i -x 1 ,
y i,1 ＝y i -y 1 ,
the following formula can be obtained:
the number of base stations installed at the site is at least 4, and the position is calculated by calculating 3 arrival time differences.
When i=2, 3:
and (3) withThe division obtains the linear relation between the coordinates x and y to be solved by the athlete:
and (3) making:
then there are:
y＝a 0 x+a 1
y=a 0 x+a 1 Substituted into the following formula:
And (3) making:
then there are:
for a pair ofTwo sides are simultaneously square to obtain:
and (3) making:
B＝2*(a 2 *a 3 +x 1 +a 0 *(y 1 -a 1 ))
Δ＝B 2 -4*A*C
then:
in the above formula, k and a are intermediate variables in the calculation process.
The premise of the algorithm is to acquire the coordinate information of 4-6 UWB positioning base stations deployed on the site.
According to the invention, by deploying UWB positioning base stations around the speed skating field, the accurate real-time positioning system of the speed skating project is realized, and all athletes on the field can be positioned in real time and returned to the data center. The tag card sends UWB signal once to the outside, all base stations in the tag positioning distance can receive wireless signal, if the base stations with two known coordinate points receive signals, the distance interval between the tag and the base stations is different, therefore, the time nodes of the two received signals are different, according to mathematical relationship, the points with the known two points as constants are necessarily positioned on a hyperbola with the two points as focuses. There are four known points (four positioning base stations) and there are four hyperbolas, which intersect at one point to be the location of the tag, as shown in fig. 5.
The positioning target sends signals to a plurality of base stations, the timing is started from the first base station receiving the signals, and the time when the signals reach the other base stations is recorded respectively. These moments are the time differences between the arrival of the first received signal node and the signal at the remaining nodes, from which a system of hyperbolic equations can be listed. The target location will be on a branch of a hyperbola with the focus of the two receiving base stations. Two or more hyperbola equations are needed for determining the two-dimensional coordinates of the target, and the intersection point of the two hyperbolas is the two-dimensional position coordinates of the positioning target. Thus requiring a minimum of 3 base stations for positioning. In general, two hyperbolas will typically cross at two points, but one point may be eliminated using known site information.
And finally calculating the position information of each of the left foot and the right foot by using the TDOA algorithm. The midpoint of the connecting line of the left and right foot positions can be used as the position of the athlete which is preliminarily identified, so that the overall analysis of the athlete is performed, and the analysis of the left and right feet is not performed independently. The base station performs time synchronization on all tags through a UWB protocol, and then corresponds left and right foot data through time stamps of each positioning data, specifically: adding a time reference measured by a base station into data transmitted by UWB, and setting a tag as the current time after receiving the data.
In addition, the IMU sensor is implanted in the wearable UWB positioning tag, so that 3-axis acceleration and 3-axis angular velocity can be output, and meanwhile, data such as a rotation matrix, an attitude angle, linear acceleration and the like can also be output. The data are combined with real-time positioning data, so that key data of the athlete reflecting the motion state of the athlete at each moment, at each position, such as the speed, the speed direction, the acceleration direction, the inclination angle of the gravity center and the like can be seen, the key effect is played on the targeted athlete training guidance, and the athlete is helped to improve the performance. The IMU inertial navigation data at the same moment can be obtained according to the time stamp in the UWB data, and the data at the same time are listed as shown in the following table:
TABLE 1 data sheet at the same time
Time Left foot data Right foot data
Time 1 LD1 RD1
Time 2 LD2 RD2
Time 3 LD3 RD3
…… …… ……
In table 1, LD2, LD3 represent left foot IMU inertial navigation data, and RD1, RD2, RD3 represent right foot IMU inertial navigation data.
Specifically, step 102 specifically includes:
and obtaining the left foot position corresponding to each moment according to the UWB data of the left foot.
And obtaining the corresponding moving distance of the left foot at each moment according to the position of the left foot.
And obtaining the left foot speed corresponding to each moment according to the moved distance of the left foot.
And obtaining the right foot position corresponding to each moment according to the UWB data of the right foot.
And obtaining the right foot moved distance corresponding to each moment according to the right foot position.
And obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
Specifically, step 103 specifically includes:
acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment.
Acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment.
Calculating the left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating the right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference between the second acceleration and the fourth acceleration.
When the acceleration change value of the left foot at the current moment is not 0, determining that the action of the left foot corresponding to the current moment is ice pedaling; when the left foot acceleration change value at the current moment is 0, determining that the motion of the left foot corresponding to the current moment is sliding.
When the acceleration change value of the right foot at the current moment is not 0, determining the motion of the right foot corresponding to the current moment as ice pedaling; when the acceleration change value of the right foot at the current moment is 0, determining the action of the right foot corresponding to the current moment to be sliding.
Step 103, determining whether the motion is ice-pushing or sliding according to the inertial navigation data characteristics of the IMU, specifically: the method for determining the direction of sliding (the advancing direction at the moment) by calculating the course angle from the triaxial acceleration data and the triaxial gyroscope data by using a quaternion method and a complementary filtering method comprises the following steps: 1. determining an initial quaternion; setting a roll angle ψ in an initial attitude angle 0 Pitch angle theta 0 Course angle gamma 0 An initial pose matrix is determined. 2. Quaternion lambda, p 1 、p 2 、p 3 Is calculated in real time; the input signal distribution (input value of formula) is the digital output signal of the gyroscopeWherein t is time, ωob is data of the three-axis gyroscope, digital output signal of acceleration +. >aob is data of triaxial acceleration, o represents x, y and z triaxial respectively, and the second-order Dragon base tower method is adopted in the calculation method, and the calculation method is specifically described in https:// www.cnblogs.com/TIANHUA/p/8031606. Html. 3. Real-time calculation of gesture matrix, and determining that gesture matrix is input as lambda (n) and p 1 (n)、p 2 (n)、p 3 (n), wherein n refers to the order of the matrix. 4. Carrying out carrier attitude angle calculation according to the attitude matrix of the previous step to determine attitude angles theta, phi and gamma, and inputting the attitude angles theta, phi and gamma as T 11 (n)、T 12 (n)、T 13 (n)、T 23 (n)、T 33 (n) obtaining an accurate course angle. The heading angle, i.e. the angle between the projection of the longitudinal axis of the carrier on the horizontal plane and the geographic meridian, or the azimuth angle of the longitudinal axis of the carrier in the navigation coordinate system, the carrier, i.e. the carrier to which the sensor is bound, can be understood as the foot. The method for determining the sliding direction by calculating the three-axis acceleration data and the three-axis gyroscope data to obtain the course angle by using a quaternion method and a complementary filtering method is the prior art.
The invention provides a speed skating data acquisition and analysis method integrating UWB and IMU, which can acquire real-time data of each point of the athlete in the whole sliding process, including speed and direction, acceleration and direction, force and direction, position relative to the ground and the like, and can objectively judge the actions and states of the athlete at all times based on the data, thereby guiding the athlete to train more specifically, helping to improve the performance, finding out the problem of technical details of the athlete after the detailed information of the athlete in the whole sliding process is provided.
FIG. 6 is a block diagram of an embodiment of a data acquisition analysis system of the present invention incorporating UWB and IMU.
Referring to fig. 6, the data acquisition and analysis system fusing UWB and IMU includes:
the UWB and IMU data acquiring module 601 is configured to acquire UWB data of a left foot, UWB data of a right foot, IMU inertial navigation data of the left foot, and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data includes coordinate values; the IMU inertial navigation data comprises triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration.
The left and right foot positioning data obtaining module 602 is configured to obtain left foot positioning data corresponding to each moment according to UWB data of the left foot, and obtain right foot positioning data corresponding to each moment according to UWB data of the right foot; the left foot positioning data comprises a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data includes a right foot position, a right foot moved distance, and a right foot speed.
A left-right foot motion obtaining module 603, configured to obtain a left foot motion corresponding to each moment according to the IMU inertial navigation data of the left foot, and obtain a right foot motion corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice-stepping and skating.
The left foot ice skating data obtaining module 604 is configured to obtain left foot ice skating data corresponding to each moment according to IMU inertial navigation data of the left foot when the motion of the left foot is ice pedaling, and obtain left foot skating data corresponding to each moment according to IMU inertial navigation data of the left foot when the motion of the left foot is skating; the left foot ice-pedaling data comprise the time length, direction and force of each time of the left foot ice-pedaling; the left foot taxi data includes the length and direction of each taxi of the left foot.
The right foot pedal ice sliding data obtaining module 605 is used for obtaining right foot pedal ice data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is ice pedaling, and also used for obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is sliding; the right foot ice-pressing data comprise the time length, direction and force of each ice-pressing of the right foot; the right foot taxi data includes the length and direction of each taxi of the right foot.
The left foot data is combined with the display module 606, and is used for combining and displaying left foot positioning data, left foot ice data and left foot sliding data corresponding to each moment in sequence according to the moment.
The right foot data combining display module 607 is used for combining right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment in time in sequence and displaying.
Specifically, the UWB and IMU data acquisition module 601 further includes:
the left foot UWB positioning data acquisition module is used for acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position.
The left foot UWB data generation module is used for generating the left foot UWB data by using a TDOA algorithm according to the left foot UWB positioning data corresponding to the real position.
The right foot UWB data generation module is used for generating right foot UWB data by using a TDOA algorithm according to right foot UWB positioning data corresponding to the real position.
The left and right foot positioning data obtaining module 602 specifically includes:
the left foot position obtaining unit is used for obtaining the left foot position corresponding to each moment according to the UWB data of the left foot.
The left foot moved distance obtaining unit is used for obtaining the left foot moved distance corresponding to each moment according to the left foot position.
The left foot speed obtaining unit is used for obtaining the left foot speed corresponding to each moment according to the moved distance of the left foot.
The right foot position obtaining unit is used for obtaining the right foot position corresponding to each moment according to the UWB data of the right foot.
The right foot moved distance obtaining unit is used for obtaining the right foot moved distance corresponding to each moment according to the right foot position.
The right foot speed obtaining unit is used for obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
The left-right foot motion obtaining module 603 specifically includes:
the current time acceleration acquisition unit is used for acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment.
The last moment acceleration acquisition unit is used for acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment.
The left foot acceleration and right foot acceleration change value calculation unit is used for calculating a left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating a right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference between the second acceleration and the fourth acceleration.
The left foot motion determining unit is used for determining that the motion of the left foot corresponding to the current moment is ice pedaling when the left foot acceleration change value at the current moment is not 0 and determining that the motion of the left foot corresponding to the current moment is sliding when the left foot acceleration change value at the current moment is 0.
The right foot action determining unit is used for determining that the action of the right foot corresponding to the current moment is ice pedaling when the right foot acceleration change value at the current moment is not 0 and determining that the action of the right foot corresponding to the current moment is sliding when the right foot acceleration change value at the current moment is 0.
Fig. 7 is a block diagram of an embodiment of a data acquisition and analysis device of the present invention incorporating UWB and IMU. Referring to fig. 7, the data acquisition and analysis device fusing UWB and IMU includes a left foot tag, a right foot tag, at least four UWB positioning base stations, a UWB engine server, and a data acquisition and analysis system fusing UWB and IMU described in the data acquisition and analysis system fusing UWB and IMU embodiment;
the left foot label is worn on the left ankle of the athlete; the right foot tag is worn on the right ankle of the athlete; the left foot tag comprises a first UWB positioning tag and a first IMU sensor; the right foot tag comprises a second UWB positioning tag and a second IMU sensor; the first UWB positioning tag is used for transmitting UWB pulse signals of the left foot to the UWB positioning base station; the first IMU sensor is used for outputting IMU inertial navigation data of the left foot corresponding to each moment; the second UWB positioning tag is used for sending UWB pulse signals of the right foot to the UWB positioning base station; the second IMU sensor is used for outputting IMU inertial navigation data of the right foot corresponding to each moment; the IMU inertial navigation data comprises triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
four UWB positioning base stations are respectively arranged around the rapid-skating field; the four UWB positioning base stations are mutually connected; the four UWB positioning base stations are connected with the first UWB positioning tag, the second UWB positioning tag and the UWB engine server; the UWB positioning base station is used for receiving UWB pulse signals sent by the UWB positioning tag, obtaining UWB positioning data according to the UWB pulse signals and sending the UWB positioning data to the UWB engine server;
The UWB engine server is connected with a data acquisition analysis system integrating UWB and IMU; the UWB engine server is used for receiving UWB positioning data sent by the UWB positioning base station, corresponding the UWB positioning data to the real position of the rapid-skating field, obtaining UWB positioning data corresponding to the real position, and sending the UWB positioning data corresponding to the real position to the data acquisition and analysis system fusing UWB and IMU; the UWB positioning data corresponding to the real position comprises left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
the data acquisition and analysis system integrating UWB and IMU is respectively connected with the first IMU sensor and the second IMU sensor; the data acquisition and analysis system integrating UWB and IMU is used for receiving UWB positioning data and IMU inertial navigation data corresponding to the real position, obtaining left foot positioning data, left foot ice data, left foot sliding data, right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment according to the UWB positioning data and the IMU inertial navigation data corresponding to the real position, combining the left foot positioning data, the left foot ice data and the left foot sliding data corresponding to each moment in sequence according to the moment, displaying, and combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment in sequence according to the moment in sequence.
The data acquisition and analysis method integrating UWB and IMU of the invention comprises the following preconditions: 1. the UWB accurate positioning system is a data acquisition and analysis device integrating UWB and IMU; 2. base stations required by a UWB accurate positioning system are deployed around the rapid-skating site; 3. integrating the UWB chip and the IMU chip on the same wearable label; 4. during the training competition, the quick skater wears the wearable tag integrated with UWB and IMU on the ankle of the left foot and the right foot.
Wherein, integrate UWB chip and IMU chip on same wearable label, specifically: two kinds of chips are integrated on the same circuit through a specially designed circuit, and the two kinds of data are fused on the chip through the MCU, so that the fusion on the chip does not need to pass through a time stamp, and the two kinds of data are directly fused when being read through the SPI.
The invention realizes a speed skating training data acquisition and analysis system based on UWB positioning technology and IMU inertial navigation data in a speed skating scene, and provides a system based on UWB application in a speed skating project, which comprises: the system comprises a positioning engine server, at least 4 positioning base stations and a plurality of wearable positioning labels, wherein a speed skating field is surrounded by a rectangle or a polygon formed by the base stations. The invention provides a method for combining UWB positioning data and IMU inertial navigation data so as to improve the speed skating training effect, wherein a UWB chip and an IMU chip are integrated on the same wearable label, and the data of the UWB chip and the IMU chip can be accurately fused without considering the problems of time synchronization and the like. After the data of the two are fused, the key data reflecting the motion state of the athlete at each moment, the speed direction, the acceleration direction, the inclination angle of the gravity center and the like of each position can be seen. Plays a key role in targeted training of guiding athletes, thereby helping athletes to improve performance.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (9)

1. A method for data acquisition and analysis fusing UWB and IMU, the method comprising:
acquiring UWB data of a left foot, UWB data of a right foot, IMU inertial navigation data of the left foot and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data comprises coordinate values; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
Obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot, and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot; the left foot positioning data comprise a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data comprise a right foot position, a right foot moved distance and a right foot speed;
obtaining actions of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot, and obtaining actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice pedaling and sliding;
when the motion of the left foot is ice pedaling, obtaining left pedal ice data corresponding to each moment according to IMU inertial navigation data of the left foot; when the motion of the left foot is sliding, obtaining left foot sliding data corresponding to each moment according to the IMU inertial navigation data of the left foot; the left foot ice-pedaling data comprise the duration, direction and force of each time of the left foot ice-pedaling; the left foot sliding data comprise the duration and the direction of each sliding of the left foot;
when the motion of the right foot is ice pedaling, obtaining right pedal ice data corresponding to each moment according to the IMU inertial navigation data of the right foot; when the motion of the right foot is sliding, obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot; the right foot ice-pedaling data comprise the time length, direction and force of each right foot ice-pedaling; the right foot sliding data comprise the duration and the direction of each sliding of the right foot;
Combining the left foot positioning data, the left foot ice data and the left foot sliding data corresponding to each moment in sequence according to the moment, and displaying;
combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment in sequence according to the moment, and displaying;
finally, the UWB data and the IMU inertial navigation data are fused, the data of the UWB data and the IMU inertial navigation data at different moments are corresponding through time stamps in the UWB data, and if some data at a certain moment is missing, the data are supplemented through an interpolation method; the fusion refers to the fusion of UWB data and inertial navigation data on each foot; the data after the fusion of the left foot and the right foot are respectively analyzed, which foot is pedaling ice is determined according to the change condition of acceleration, which foot is sliding, and the distance and the ice pedaling duration of each left foot and each right foot ice pedaling are respectively calculated; determining the time of each ice-pushing and sliding according to the IMU data, and determining the distance through UWB data in the corresponding time; the athlete adjusts the speed by changing the ice-pushing time, so the curve graph of the time/distance change of the ice-pushing time is drawn according to the data obtained by the steps, and the curve graph is used for the coach to analyze the technical characteristics of the athlete.
2. The method for collecting and analyzing data by fusing UWB and IMU according to claim 1, wherein the steps of obtaining UWB data of a left foot, UWB data of a right foot, IMU inertial navigation data of a left foot and IMU inertial navigation data of a right foot corresponding to each moment further comprise:
acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
generating left foot UWB data by using a TDOA algorithm according to the left foot UWB positioning data corresponding to the real position;
and generating right foot UWB data by using a TDOA algorithm according to the right foot UWB positioning data corresponding to the real position.
3. The method for collecting and analyzing data of a fused UWB and IMU according to claim 1, wherein the obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot specifically comprises:
obtaining the left foot position corresponding to each moment according to the UWB data of the left foot;
obtaining the corresponding left foot moved distance at each moment according to the left foot position;
obtaining left foot speeds corresponding to all moments according to the moved distance of the left foot;
Obtaining right foot positions corresponding to all moments according to the UWB data of the right foot;
obtaining the right foot moved distance corresponding to each moment according to the right foot position;
and obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
4. The method for collecting and analyzing data by fusing UWB and IMU according to claim 1, wherein the steps of obtaining the motion of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot and obtaining the motion of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot specifically comprise:
acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment;
acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment;
calculating a left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating a right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference value between the second acceleration and the fourth acceleration;
When the acceleration change value of the left foot at the current moment is not 0, determining that the motion of the left foot corresponding to the current moment is ice pedaling; when the left foot acceleration change value at the current moment is 0, determining that the motion of the left foot corresponding to the current moment is sliding;
when the acceleration change value of the right foot at the current moment is not 0, determining the motion of the right foot corresponding to the current moment as ice pedaling; and when the acceleration change value of the right foot at the current moment is 0, determining the action of the right foot corresponding to the current moment to be sliding.
5. A data acquisition analysis system that fuses UWB and IMU, the system comprising:
the UWB and IMU data acquisition module is used for acquiring UWB data of the left foot, UWB data of the right foot, IMU inertial navigation data of the left foot and IMU inertial navigation data of the right foot corresponding to each moment; the UWB data comprises coordinate values; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
the left foot positioning data and right foot positioning data obtaining module is used for obtaining left foot positioning data corresponding to each moment according to the UWB data of the left foot and obtaining right foot positioning data corresponding to each moment according to the UWB data of the right foot; the left foot positioning data comprise a left foot position, a left foot moved distance and a left foot speed; the right foot positioning data comprise a right foot position, a right foot moved distance and a right foot speed;
The left foot and right foot action obtaining module is used for obtaining actions of the left foot corresponding to each moment according to the IMU inertial navigation data of the left foot and obtaining actions of the right foot corresponding to each moment according to the IMU inertial navigation data of the right foot; the actions include ice pedaling and sliding;
the left foot pedal ice sliding data obtaining module is used for obtaining left foot pedal ice data corresponding to each moment according to the IMU inertial navigation data of the left foot when the motion of the left foot is ice pedaling, and also used for obtaining left foot sliding data corresponding to each moment according to the IMU inertial navigation data of the left foot when the motion of the left foot is sliding; the left foot ice-pedaling data comprise the duration, direction and force of each time of the left foot ice-pedaling; the left foot sliding data comprise the duration and the direction of each sliding of the left foot;
the right foot pedal ice sliding data obtaining module is used for obtaining right foot pedal ice data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is ice pedaling, and also used for obtaining right foot sliding data corresponding to each moment according to the IMU inertial navigation data of the right foot when the motion of the right foot is sliding; the right foot ice-pedaling data comprise the time length, direction and force of each right foot ice-pedaling; the right foot sliding data comprise the duration and the direction of each sliding of the right foot;
The left foot data combined display module is used for sequentially combining the left foot positioning data, the left foot ice-pedaling data and the left foot sliding data corresponding to each moment according to the moment and displaying the left foot positioning data, the left foot ice-pedaling data and the left foot sliding data;
the right foot data combination display module is used for sequentially combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment according to the moment and displaying the combined right foot positioning data, the right foot ice data and the right foot sliding data;
the last two modules are used for carrying out fusion processing on UWB data and IMU inertial navigation data, the UWB data and the IMU inertial navigation data are corresponding to each other at different moments through time stamps in the UWB data, and if a certain piece of data at a certain moment is missing, interpolation is carried out; the fusion refers to the fusion of UWB data and inertial navigation data on each foot; the data after the fusion of the left foot and the right foot are respectively analyzed, which foot is pedaling ice is determined according to the change condition of acceleration, which foot is sliding, and the distance and the ice pedaling duration of each left foot and each right foot ice pedaling are respectively calculated; determining the time of each ice-pushing and sliding according to the IMU data, and determining the distance through UWB data in the corresponding time; the athlete adjusts the speed by changing the ice-pushing time, so the curve graph of the time/distance change of the ice-pushing time is drawn according to the data obtained by the steps, and the curve graph is used for the coach to analyze the technical characteristics of the athlete.
6. The UWB and IMU fused data acquisition analysis system of claim 5 wherein the UWB and IMU data acquisition module is preceded by:
the left foot UWB positioning data acquisition module and the right foot UWB positioning data acquisition module are used for acquiring left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
the left foot UWB data generation module is used for generating left foot UWB data by using a TDOA algorithm according to the left foot UWB positioning data corresponding to the real position;
and the right foot UWB data generation module is used for generating right foot UWB data by using a TDOA algorithm according to the right foot UWB positioning data corresponding to the real position.
7. The UWB and IMU-fused data acquisition and analysis system of claim 5 wherein the left and right foot positioning data acquisition module specifically comprises:
the left foot position obtaining unit is used for obtaining the left foot position corresponding to each moment according to the UWB data of the left foot;
the left foot moved distance obtaining unit is used for obtaining the left foot moved distance corresponding to each moment according to the left foot position;
the left foot speed obtaining unit is used for obtaining the left foot speed corresponding to each moment according to the moved distance of the left foot;
The right foot position obtaining unit is used for obtaining right foot positions corresponding to all moments according to the UWB data of the right foot;
the right foot moved distance obtaining unit is used for obtaining the right foot moved distance corresponding to each moment according to the right foot position;
and the right foot speed obtaining unit is used for obtaining the right foot speed corresponding to each moment according to the moved distance of the right foot.
8. The system for collecting and analyzing data fusing UWB and IMU of claim 5, wherein the left and right foot motion obtaining module specifically comprises:
the current time acceleration acquisition unit is used for acquiring a first acceleration and a second acceleration; the first acceleration is the linear acceleration of the left foot at the current moment; the second acceleration is the linear acceleration of the right foot at the current moment;
the last moment acceleration acquisition unit is used for acquiring a third acceleration and a fourth acceleration; the third acceleration is the linear acceleration of the left foot at the previous moment; the fourth acceleration is the linear acceleration of the right foot at the previous moment;
the left foot acceleration and right foot acceleration change value calculation unit is used for calculating a left foot acceleration change value at the current moment according to the first acceleration and the third acceleration, and calculating a right foot acceleration change value at the current moment according to the second acceleration and the fourth acceleration; the left foot acceleration change value at the current moment is the difference value between the first acceleration and the third acceleration; the right foot acceleration change value at the current moment is the difference value between the second acceleration and the fourth acceleration;
The left foot action determining unit is used for determining that the action of the left foot corresponding to the current moment is ice pedaling when the left foot acceleration change value at the current moment is not 0 and determining that the action of the left foot corresponding to the current moment is sliding when the left foot acceleration change value at the current moment is 0;
and the right foot action determining unit is used for determining that the action of the right foot corresponding to the current moment is ice pedaling when the right foot acceleration change value at the current moment is not 0 and determining that the action of the right foot corresponding to the current moment is sliding when the right foot acceleration change value at the current moment is 0.
9. A data acquisition and analysis device integrating UWB and IMU, characterized in that the device comprises a left foot tag, a right foot tag, at least four UWB positioning base stations, a UWB engine server and the data acquisition and analysis system integrating UWB and IMU according to any one of claims 5-8;
the left foot tag is worn on the left ankle of the athlete; the right foot tag is worn on the ankle of the right foot of the athlete; the left foot tag comprises a first UWB positioning tag and a first IMU sensor; the right foot tag comprises a second UWB positioning tag and a second IMU sensor; the first UWB positioning tag is used for sending UWB pulse signals of a left foot to the UWB positioning base station; the first IMU sensor is used for outputting IMU inertial navigation data of the left foot corresponding to each moment; the second UWB positioning tag is used for sending UWB pulse signals of the right foot to the UWB positioning base station; the second IMU sensor is used for outputting IMU inertial navigation data of the right foot corresponding to each moment; the IMU inertial navigation data comprise triaxial acceleration, triaxial angular velocity, rotation matrix, attitude angle and linear acceleration;
The four UWB positioning base stations are respectively arranged around the rapid sliding field; the four UWB positioning base stations are mutually connected; the four UWB positioning base stations are connected with the first UWB positioning tag, the second UWB positioning tag and the UWB engine server; the UWB positioning base station is used for receiving UWB pulse signals sent by the UWB positioning tag, obtaining UWB positioning data according to the UWB pulse signals and sending the UWB positioning data to the UWB engine server;
the UWB engine server is connected with the data acquisition and analysis system fusing UWB and IMU; the UWB engine server is used for receiving the UWB positioning data sent by the UWB positioning base station, corresponding the UWB positioning data to the real position of the rapid-skating site, obtaining UWB positioning data corresponding to the real position, and sending the UWB positioning data corresponding to the real position to the data acquisition and analysis system fusing UWB and IMU; the UWB positioning data corresponding to the real position comprises left foot UWB positioning data corresponding to the real position and right foot UWB positioning data corresponding to the real position;
the data acquisition and analysis system fusing UWB and IMU is respectively connected with the first IMU sensor and the second IMU sensor; the data acquisition and analysis system integrating UWB and IMU is used for receiving the UWB positioning data corresponding to the real position and the IMU inertial navigation data, obtaining left foot positioning data, left foot ice data, left foot sliding data, right foot positioning data, right foot ice data and right foot sliding data corresponding to each moment according to the UWB positioning data corresponding to the real position and the IMU inertial navigation data, combining the left foot positioning data, the left foot ice data and the left foot sliding data corresponding to each moment in sequence according to the moment, displaying, and combining the right foot positioning data, the right foot ice data and the right foot sliding data corresponding to each moment in sequence according to the moment in sequence.
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