CN116337106A - System and method for acquiring movement speed and acceleration of sledge - Google Patents
System and method for acquiring movement speed and acceleration of sledge Download PDFInfo
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- CN116337106A CN116337106A CN202211493221.8A CN202211493221A CN116337106A CN 116337106 A CN116337106 A CN 116337106A CN 202211493221 A CN202211493221 A CN 202211493221A CN 116337106 A CN116337106 A CN 116337106A
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- 238000005259 measurement Methods 0.000 claims abstract description 18
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- 238000012937 correction Methods 0.000 claims abstract description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
- 239000004411 aluminium Substances 0.000 claims 1
- 229910052799 carbon Inorganic materials 0.000 claims 1
- 239000000835 fiber Substances 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 3
- 230000000386 athletic effect Effects 0.000 abstract description 2
- 230000037147 athletic performance Effects 0.000 abstract description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/003—Kinematic accelerometers, i.e. measuring acceleration in relation to an external reference frame, e.g. Ferratis accelerometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/14—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring differences of pressure in the fluid
- G01P5/16—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring differences of pressure in the fluid using Pitot tubes, e.g. Machmeter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
Abstract
The invention belongs to the technical field related to snowmobile sled athletic training, and discloses a system and a method for acquiring the movement speed and acceleration of a snowmobile sled, wherein the system comprises a airspeed tube, an airspeed module, an IMU, a microcontroller and an upper computer, wherein the airspeed tube is arranged at the front end of the snowmobile sled to be tested and is used for measuring the static pressure and dynamic pressure of the snowmobile sled to be tested when the snowmobile sled slides, and the airspeed module is used for receiving the measurement data of the airspeed tube and calculating and obtaining the airspeed of relative air of the snowmobile sled to be tested when the snowmobile sled slides; the IMU is used for measuring the acceleration of the snowmobile to be detected when the snowmobile skis slide; the microcontroller is connected with the airspeed module and the IMU at the same time and is used for receiving data from the airspeed module and the IMU and synchronizing the data of the airspeed module and the IMU in time; the upper computer is used for carrying out data fusion and correction on the data from the microcontroller so as to obtain the final required speed and acceleration. The invention effectively helps the athlete to improve the sliding skills and the athletic performance.
Description
Technical Field
The invention belongs to the technical field related to snowmobile sled athletic training, and particularly relates to a system and a method for acquiring the movement speed and acceleration of a snowmobile sled.
Background
Snowmobile skis are a very fast sliding motion, so that the athlete himself cannot accurately feel his own sliding state and sliding characteristics. The competition is carried out on an ice road with a total length of about 1500-2000 meters, and the whole sliding process cannot be clearly observed by a bystander due to the long distance and the meandering of the road. How to capture the state of the athlete during the whole skating process and quantify the skating characteristics is a key to guiding the athlete training, however, due to the characteristics of the snowmobile sledding, the method is very difficult for the snowmobile sledding.
The most commonly used method of assessing athlete performance is to install a photo gate (photocell) on the track to record the athlete's time and speed as they pass. This then only captures the instant messages at certain locations and does not learn the continuous status and characteristics of the entire taxiing process.
At present, when the speed and the acceleration of an automobile are measured, the speed and the acceleration are calculated by measuring the rotation speeds of an engine and wheels, and the snowmobile sledge does not have the engine and the wheels and can not obtain the acceleration and the speed according to the rotation speeds of the engine and the wheels; in addition, the method is also used for detecting through GPS positioning measurement, but for indoor environment, the signal is poor, the real-time speed and acceleration cannot be reflected, the measurement result is inaccurate, the camera is adopted for photographing to carry out real-time tracking measurement, but the laser positioning accuracy is low, and meanwhile, eyes of people are injured, so that the current method cannot meet the measurement requirement of the existing snowmobile sledge.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a system and a method for acquiring the movement speed and acceleration of a snowmobile sled, which solve the problems that the speed of the snowmobile sled cannot be measured and the real-time accurate measurement cannot be realized in the existing measurement method.
To achieve the above object, according to one aspect of the present invention, there is provided a snowmobile ski speed and acceleration acquisition system comprising a pitot tube, a airspeed module, an IMU, a microcontroller, and an upper computer, wherein,
the airspeed tube is arranged at the front end of the sledge to be detected and used for measuring static pressure and dynamic pressure of the sledge to be detected, and the airspeed module is connected with the airspeed tube and used for receiving the measurement data of the airspeed tube and calculating and obtaining the airspeed of the relative air of the sledge to be detected;
the IMU is arranged on the sledge of the snowmobile to be detected and used for measuring the acceleration of the sledge of the snowmobile to be detected when the sledge of the snowmobile to be detected slides; the microcontroller is connected with the airspeed module and the IMU at the same time and is used for receiving data from the airspeed module and the IMU and synchronizing the data of the airspeed module and the IMU in time; the upper computer is connected with the microcontroller and is used for carrying out data fusion and correction on data from the microcontroller so as to obtain the final required speed and acceleration.
Further preferably, the airspeed module comprises a height sensor and an airspeed sensor, and the output barometric altitude value Hp and airspeed value CAS are calculated from raw data measured by the input airspeed tube.
Further preferably, the IMU includes an accelerometer for detecting acceleration signals of the object to be measured in the carrier coordinates of the independent three axes, and a gyroscope for detecting angular velocity signals of the carrier with respect to the navigation coordinate system, thereby measuring angular velocity and acceleration of the object in three-dimensional space.
Further preferably, the airspeed tube consists of an aluminum probe and a lightweight carbon fiber tube.
Further preferably, the system further comprises a communication module for realizing wireless connection between the microcontroller and the upper computer.
Further preferably, the IMU and the airspeed module are connected with the microcontroller through a TTL protocol, so as to realize time axis synchronization.
Further preferably, the microcontroller employs the use of DMA direct memory to accept and send serial cache data.
According to another aspect of the present invention, there is provided a method for acquiring the snowmobile ski movement speed and acceleration acquisition system, comprising the steps of:
s1, respectively acquiring real-time static pressure, dynamic pressure and acceleration of the ski of the snowmobile to be detected by the airspeed tube and the IMU, and transmitting the acquired static pressure and dynamic pressure to the airspeed module by the airspeed tube to calculate and obtain the airspeed of the relative air of the ski of the snowmobile to be detected;
s2, the airspeed module and the IMU transmit data to the microcontroller, the microcontroller synchronizes the data of the airspeed module and the IMU in time, and transmits the synchronized data to the upper computer;
and S3, the upper computer fuses and corrects the received data.
Further preferably, the upper computer fuses and corrects the data by adopting a Kalman filtering algorithm.
In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1. the acquisition system provided by the invention aims to realize measurement of the movement speed and acceleration of the sledge and the sled by using the airspeed tube and an Inertial Measurement Unit (IMU) while guaranteeing the sliding safety of athletes so as to realize accurate perception and fusion of the sliding state of the sledge and sled, thereby solving the technical problems of analysis of the sliding rule and the winning factor of the sledge and sled movement team and effectively helping athletes to improve the sliding skill and the athletic performance;
2. the invention adopts a mode of combining the IMU, the airspeed tube and the airspeed module, the acceleration and the angular velocity obtained by the IMU have accurate acceleration information and do not drift with time, but the velocity obtained by mathematical integration and the displacement data obtained by secondary integration gradually accumulate mathematical errors due to noise, and can generate great drift; the airspeed tube obtains speed information without drifting, but the sampling frequency is lower, and the speed error acquired during a curve is larger; correcting the speed obtained by integrating the acceleration of the IMU by utilizing data through a Kalman filtering algorithm to obtain more accurate speed information, and effectively relieving the drift phenomenon;
3. according to the acquisition system provided by the invention, the measurement of the movement speed and the acceleration of the snowmobile sled is realized by using the airspeed tube and the Inertial Measurement Unit (IMU) while the sliding safety of athletes is ensured, the sliding speed of the whole sliding process of the snowmobile sled is obtained, the problem of inaccurate positioning and speed measurement caused by weak GPS signals is solved, and the accurate sensing and fusion of the sliding state of the snowmobile sled are realized by combining the acceleration data.
Drawings
FIG. 1 is a schematic diagram of a snowmobile ski speed and acceleration acquisition system constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of an integrated pitot tube and IMU mounted ski constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a field diagram of a ski-mounted integrated space velocity tube and IMU device constructed in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a pitot tube constructed in accordance with a preferred embodiment of the invention;
FIG. 5 is a schematic diagram of an airspeed module constructed in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of the structure of an IMU constructed in accordance with a preferred embodiment of the present invention;
fig. 7 is a pictorial view of a snow sled speed and acceleration acquisition system constructed in accordance with a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in figures 1 and 7, the system for acquiring the movement speed and the acceleration of the snowmobile sled realizes the measurement of the movement speed and the acceleration of the snowmobile sled while guaranteeing the safety of the sliding of an athlete.
As shown in fig. 2 and 3, the airspeed tube is mounted at the front end of the snowmobile sled, and is used for measuring parameters such as static pressure, dynamic pressure and the like when the snowmobile sled slides, and is connected to the airspeed module through a hose, and the airspeed of the relative air when the snowmobile sled slides is calculated through the airspeed module. And then the IMU is arranged at a position of the snowmobile sled, which does not influence the operation of an athlete, and is used for measuring acceleration information of the snowmobile sled during the sliding, and finally the IMU is connected with an airspeed module through a TTL protocol to realize time axis synchronization and integrally supply power through a 5V battery.
As shown in FIG. 4, the pitot tube is composed of a probe made of aviation grade aluminum and a lightweight carbon fiber tube, and the probe is very strong. The design of the static pressure hole is very accurate, the airspeed tube can be conveniently installed on a snowmobile sledge by using 2 or 4M 4 screws, so that the total pressure (Pt) and the static pressure (Ps) are balanced at the same time, the volume of a pipeline inside the airspeed tube is very small, the airspeed tube is used for sensing the total pressure (also called the total pressure) and the static pressure of air flow, and the measured pressure data are transmitted to an ADM height and airspeed module;
as shown in FIG. 5, the airspeed module comprises a height sensor and an airspeed sensor, outputs parameters such as an air pressure height value Hp, an airspeed value CAS and the like, can be connected with various airspeed tubes, and calculates the actual airspeed by inputting raw data such as static pressure, total pressure and the like measured by the airspeed tubes. The module has small volume, low power consumption and wide working temperature range, is automatically output after being electrified, does not need external instructions, and can be output in the form of RS485 digital quantity and TTL level.
As shown in fig. 6, an Inertial Measurement Unit (IMU) is a device that measures three-axis attitude angles (or angular rates) of an object as well as acceleration. Three-dimensional azimuth data based on local geographic coordinates, which are calculated by a sensor fusion algorithm, can be output, wherein the three-dimensional azimuth data comprises relative heading angles, pitch angles and roll angles without absolute references. While calibrated raw sensor data may also be output. The IMU comprises three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object on independent three axes of a carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, angular velocity and acceleration of the object in a three-dimensional space are measured, and the posture of the object is calculated according to the angular velocity signals and the acceleration signals. The output data interface is a TTL serial port with the size of 20 multiplied by 25 multiplied by 3mm.
The battery may enable power to the ADM altitude and airspeed module.
The IMU and the airspeed module are connected through a TTL protocol to realize time axis synchronization. The IMU module, the airspeed tube and the 4G module are respectively connected with STM32 uart1, uart2 and uart3 through serial ports. STM32 embedded microcontroller, measurement result's acceptance, preliminary calculation (data cutting and the synchronization of these two data in time), power management, use DMA (direct memory access) to accept and send serial port cache data, in order to increase throughput, reduce packet loss rate, liberate CPU resource. Data synchronization is performed in the STM32 or in an upper computer (both depending on the STM32 computational power and throughput requirements). Because the IMU is not consistent with the pitot tube frequency and the pitot tube speed has no time stamp, time synchronization processing is needed. While the IMU output frequency remains relatively unchanged, thus taking the time of generation of IMU packets as a time reference. With this scheme, a time stamp with ms-level accuracy can be achieved.
The time synchronization process is as follows:
(1) Determining a time starting point time, and using a time stamp in the first data packet to be the starting time of the data packet;
(2) And calculating the interval time of the data packet by using the IMU frequency so as to calculate the time offset relative to the initial time and obtain the absolute time. The acquisition of hardware data, the realization of time synchronization and a filtering algorithm, and the calculation of accurate speed and acceleration information;
(3) The data is sub-resampled to a specified frequency.
The carrier uses a right-front-up (RFU) coordinate system and the geographic coordinate system uses an east-north-day (ENU) coordinate system. The Euler angle rotation sequence is east-north-sky-312 (Z axis is firstly turned, then X axis is turned, and finally Y axis is turned). The specific definition is as follows:
and rotating around the Z-axis direction, namely, heading angle and range: -180 ° -180 °;
rotation around X axis direction, pitch angle, range: -90 ° -90 °;
rotation around Y axis direction, roll angle, range: -180 ° -180 °.
The data from different sensors, possibly with different units (units), with the same measurement purpose are fused together using kalman filter fusion, resulting in a more accurate measurement of the purpose. The IMU can obtain the acceleration and angular velocity of the triaxial, the acceleration information is accurate and does not drift with time, but the velocity obtained by mathematical integration and the displacement data obtained by twice integration gradually accumulate mathematical errors due to noise, and great drift can be generated. The airspeed tube can obtain speed information without drifting, but the sampling frequency is lower, and the speed error acquired during a curve is larger. Therefore, the velocity obtained by integrating the IMU acceleration is corrected by utilizing 0 data through a Kalman filtering algorithm, more accurate velocity information is obtained, and the drift phenomenon is effectively relieved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A system for collecting the movement speed and acceleration of a snowmobile sledge is characterized by comprising an airspeed tube, an airspeed module, an IMU, a microcontroller and an upper computer, wherein,
the airspeed tube is arranged at the front end of the sledge to be detected and used for measuring static pressure and dynamic pressure of the sledge to be detected, and the airspeed module is connected with the airspeed tube and used for receiving the measurement data of the airspeed tube and calculating and obtaining the airspeed of the relative air of the sledge to be detected;
the IMU is arranged on the sledge of the snowmobile to be detected and used for measuring the acceleration of the sledge of the snowmobile to be detected when the sledge of the snowmobile to be detected slides; the microcontroller is connected with the airspeed module and the IMU at the same time and is used for receiving data from the airspeed module and the IMU and synchronizing the data of the airspeed module and the IMU in time; the upper computer is connected with the microcontroller and is used for carrying out data fusion and correction on data from the microcontroller so as to obtain the final required speed and acceleration.
2. A snowmobile ski movement speed and acceleration acquisition system according to claim 1, characterized in that the airspeed module comprises a height sensor and an airspeed sensor, outputting an altitude Hp and a CAS airspeed value, and calculating the true airspeed from the raw data measured by the input airspeed tube.
3. A snowmobile ski movement speed and acceleration acquisition system according to claim 1 or 2, characterized in that the IMU comprises an accelerometer for detecting acceleration signals of the object to be measured on the carrier's three independent axes in coordinates and a gyroscope for detecting angular velocity signals of the carrier relative to a navigational coordinate system, whereby angular velocity and acceleration of the object in three dimensions are measured.
4. A snowmobile ski speed and acceleration acquisition system according to claim 1 or 2, characterized in that the pitot tube consists of an aluminium probe and a lightweight carbon fibre tube.
5. A snowmobile ski speed and acceleration acquisition system according to claim 1 or 2, further comprising a communication module for wireless connection between the microcontroller and the host computer.
6. A snowmobile ski speed and acceleration acquisition system according to claim 1 or 2, characterized in that the IMU and airspeed module are connected to the microcontroller via the TTL protocol, whereby time axis synchronization is achieved.
7. A snowmobile ski speed and acceleration acquisition system according to claim 1 or 2, characterized in that the microcontroller employs DMA direct memory to accept and send serial cache data.
8. A method of acquiring a snowmobile ski speed and acceleration acquisition system according to any one of claims 1-7, characterized in that the method comprises the steps of:
s1, respectively acquiring real-time static pressure, dynamic pressure and acceleration of the ski of the snowmobile to be detected by the airspeed tube and the IMU, and transmitting the acquired static pressure and dynamic pressure to the airspeed module by the airspeed tube to calculate and obtain the airspeed of the relative air of the ski of the snowmobile to be detected;
s2, the airspeed module and the IMU transmit data to the microcontroller, the microcontroller synchronizes the data of the airspeed module and the IMU in time, and transmits the synchronized data to the upper computer;
and S3, the upper computer fuses and corrects the received data.
9. The method of any one of claims 8, wherein the host computer fuses and modifies the data using a kalman filter algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211493221.8A CN116337106A (en) | 2022-11-25 | 2022-11-25 | System and method for acquiring movement speed and acceleration of sledge |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211493221.8A CN116337106A (en) | 2022-11-25 | 2022-11-25 | System and method for acquiring movement speed and acceleration of sledge |
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| Publication Number | Publication Date |
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| CN116337106A true CN116337106A (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211493221.8A Pending CN116337106A (en) | 2022-11-25 | 2022-11-25 | System and method for acquiring movement speed and acceleration of sledge |
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| Country | Link |
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| CN (1) | CN116337106A (en) |
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- 2022-11-25 CN CN202211493221.8A patent/CN116337106A/en active Pending
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