WO2020232727A1 - 一种基于mimu的便携脊柱测量仪及方法 - Google Patents

一种基于mimu的便携脊柱测量仪及方法 Download PDF

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WO2020232727A1
WO2020232727A1 PCT/CN2019/088259 CN2019088259W WO2020232727A1 WO 2020232727 A1 WO2020232727 A1 WO 2020232727A1 CN 2019088259 W CN2019088259 W CN 2019088259W WO 2020232727 A1 WO2020232727 A1 WO 2020232727A1
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data
angle
spine
acceleration
measuring instrument
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PCT/CN2019/088259
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English (en)
French (fr)
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费树岷
杨金显
黄晓晖
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南京东奇智能制造研究院有限公司
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics

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  • the invention patent discloses a MIMU-based portable spine measuring instrument, which belongs to the technical field of medical equipment.
  • the spine surgeon needs to obtain the cobb angle of the patient with scoliosis.
  • the final result is the cobb angle.
  • various medical devices need to be used, but it is easy to cause human errors in the measurement process, cumbersome to use and low reliability, and special instruments for spine measurement are difficult to carry. The drawbacks of being bulky and costly.
  • electronic spine measuring instruments such as the Idiag SpinalMouse in Switzerland and the SpineScanTM in Israel, have the same measurement principle. They are based on the measurement of the inclination of the earth, that is, three-dimensional electronic gravity angle sensing technology; because the measurement angle is based on the three axes of gravity The calculation above will definitely be affected by the accuracy of gravity extraction; since only one angle can be measured at a time, other modes must be designed to measure other angles, which leads to cumbersome measurement operations; when measuring large angles, there will be great
  • the core measurement sensor of a spine electronic measuring instrument uses resistance strain gauges or strain gauges, and strain is used to measure stress changes, generally measuring small changes, and the spine may change in large angles, so in the measurement principle There may be some problems on the above; in addition, because these spine measuring instruments are composed of a host computer, a computer, and a printer, they cannot be portable.
  • MEMS inertial devices have become the preferred device for attitude measurement due to their advantages of low cost, small size, long life, integration, strong impact resistance and high reliability.
  • the purpose of the present invention is to construct a MIMU inertial measurement system consisting of a three-axis MEMS accelerometer and a three-axis MEMS gyroscope, through the acceleration and angular velocity of the spine measuring instrument sliding on the spine, and then complementary combined measurement, and at the same time high-precision calculation
  • the three angles of each spine (kyphosis angle, scoliosis angle, scoliosis angle), and then the angle change of the entire spine can be obtained.
  • the spine measuring instrument mainly includes two parts: the handheld smart terminal measurement part and the upper computer analysis display part.
  • the measurement part of the handheld smart terminal includes: MIMU data acquisition unit, data preprocessing and attitude calculation unit, data display unit, and data transmission unit.
  • the smart terminal measurement part realizes the attitude measurement function and can be used alone.
  • the MIMU data acquisition unit includes a three-axis accelerometer, a three-axis gyroscope and a thermometer.
  • the accelerometer and gyroscope output acceleration, angular velocity and temperature data.
  • the data sampling frequency and bandwidth are set according to the data sampling frequency and bandwidth, and then transmitted to the data preprocessing via the SPI interface And attitude calculation unit.
  • the data preprocessing and posture calculation unit is also the core unit of spine posture measurement.
  • the hardware consists of a high-speed embedded processor, static/dynamic memory, micro SD card, and peripheral auxiliary electronic components.
  • the temperature drift compensation is performed first, and then Using time series analysis and strong tracking Kalman filter processing algorithm, estimate the angular velocity and acceleration zero deviation, perform data zero deviation compensation, and then calculate the attitude according to the compensated acceleration and angular velocity data, and calculate the original acceleration, angular velocity and spine attitude Data is recorded to micro SD card.
  • the data display unit is a 4-wire TFT true color screen with SPI interface.
  • the data transmission unit is wireless transmission, using wired and wireless transmission modes, the wired transmission mode uses USB data format transmission, and the wireless transmission uses Bluetooth encryption mode transmission.
  • the upper computer analysis and display part adopts LabVIEW to realize interface programming, and its functions include:
  • the posture calculation steps of the spine measuring instrument are as follows.
  • the definition of the coordinate system and the conversion relationship between them are one of the necessary foundations for the attitude calculation of the measuring instrument.
  • the coordinate system defines the coordinate system and the attitude description:
  • Reference coordinate system-OX n Y n Z n (n-system): According to the spine measurement requirements, the geographic coordinate system is used as the reference coordinate system.
  • the geographic coordinate system is a northeast sky coordinate system defined relative to the horizontal plane of the earth. Its origin is on the surface of the earth.
  • the OZ n axis is along the line connecting the center of the earth and the origin of the coordinate system and points to the sky, perpendicular to the local horizontal plane.
  • the plane formed by OX n Y n is located in the local horizontal plane.
  • the two horizontal coordinate axes point to the east and the north respectively, and the three coordinate axes point in accordance with the right-hand rule.
  • Measurement coordinate system-OX b Y b Z b (b-system): The measurement coordinate system is established along the three coordinate axes of the measuring instrument. Among them, take the center of gravity of the measuring instrument as the origin of the b-system, the OX b axis and the OY b axis are in the same plane and perpendicular to each other, and the OZ b axis is in the same direction as the measuring instrument axis and perpendicular to the OX b axis and OY b axis. Plane.
  • the three-axis accelerometer and the three-axis gyroscope are fixedly connected to the coordinate system of the measuring instrument, and are installed orthogonally along the three axes of the measuring instrument.
  • the posture of the spine and the angle of scoliosis are determined by the azimuth relationship between the b-system and the n-system of the measuring instrument. According to Euler's theorem, any posture of the measuring instrument can be described by a series of rotations of the b-system relative to the n-system. The angle of each rotation is the side bend angle ⁇ , the kyphosis angle ⁇ , and the side lobe angle ⁇ , namely the Euler angle. Furthermore, the coordinate transformation matrix from n-system to b-system can be obtained as
  • the side bend angle ⁇ is defined as the angle between the geomagnetic north direction in the counterclockwise direction and the projection of the OZ b axis on the ground plane ,
  • the value range of ⁇ is 90° ⁇ 90°
  • the kyphotic angle ⁇ is defined as the angle between the OX b axis and the ground plane, and the value range of ⁇ is -90° ⁇ +90°
  • the lateral convex angle ⁇ is defined Is the angle between the OY b axis and the ground plane, and the value range of ⁇ is 90° ⁇ 90°.
  • g is the acceleration of gravity
  • a xc , a yc , and a zc are the calculated components of the acceleration of gravity in the three axes of the b-system.
  • the accelerometer data in the measuring instrument can be used to calculate the kyphosis angle ⁇ a and the scoliosis angle ⁇ a as
  • the pose matrix can also be expressed as a quaternion
  • Update the quaternion calculate the quaternion by the three-axis angular velocity data g x , g y , g z measured by the gyroscope
  • a x , a y , a z may include external acceleration, that is, not all acceleration due to gravity, so use the actual accelerometer
  • the output data needs to be adjusted, the design automatically adjusts the parameters That is, when k>1, it means that the kyphotic angle and the side bend angle calculated using the data output by the accelerometer have a certain error, which is related to k. The larger the k, the greater the error. At this time, the angle calculated by the acceleration is smaller. ; When k ⁇ 1, use the acceleration to calculate the data, namely
  • the compensated kyphotic angle, side lobe and side bend angle are
  • the spine tester of the present invention does not require user customization, is simple to operate, non-invasive, and can instantly and quickly measure the three-dimensional angle dynamics, real-time each spine and spine posture, and the measurement accuracy is more accurate. It is not only used for spine posture measurement, but can be widely applied to others Occasions, such as schools, pediatrics, orthopedics, rehabilitation, sports medicine research institutes, human anatomy laboratories, physiology laboratories, health laboratories, national fitness monitoring centers, community health centers, nursing homes, physical examination centers, geriatrics, etc. measuring.
  • Figure 1 is the system structure of the spine measuring instrument of the present invention
  • Fig. 2 is the posture calculation process of the spine measuring instrument of the present invention.
  • Figure 1 shows the system structure diagram of the spine measuring instrument.
  • the spine measuring instrument mainly includes two parts: the handheld smart terminal measurement part and the upper computer analysis display part.
  • the hand-held smart terminal measurement part includes: MIMU data acquisition unit, data preprocessing and posture calculation unit, data display unit, and data transmission unit.
  • MIMU data acquisition unit sensor hardware adopts three-axis analog silicon micro MEMS gyroscope PA-3ARG-01, QFN package, power supply voltage 5V, size 25mm ⁇ 25mm ⁇ 24mm, with SPI interface, angular rate resolution of 0.0625dps/LSB, dynamic Selected full scale range ( ⁇ 250/ ⁇ 500/ ⁇ 1000/ ⁇ 2000°/s), output data frequency (ODR) range: 12.5Hz to 800Hz;
  • the accelerometer adopts Colibrys MS9000 series accelerometer, which has a range from ⁇ 2g to ⁇ 250g wide range, ultra-small LCC20 package (8.9mm ⁇ 8.9mm), accelerometer and gyroscope output acceleration and angular velocity data, amplified by resonant circuit, set the data sampling frequency and bandwidth using a second-order system, and then transmit via SPI interface To the data preprocessing and attitude calculation unit.
  • the data preprocessing and posture calculation unit is also the core unit of spine posture measurement.
  • the hardware adopts STM32F4 series processor, 32-bit, processing speed 168MHz, with multiple interfaces CAN, DCMI, EBI/EMI, Ethernet, I2C , IrDA, LIN, SPI, UART/USART, USB OTG, etc., comes with A/D24x12b data interface, program memory capacity 1MB, RAM capacity 192K, external 256G Micro SD card, for the received acceleration, angular velocity and temperature, temperature first Drift compensation, and then use the processing algorithm of time series analysis and strong tracking Kalman filter to estimate the angular velocity and acceleration zero deviation, perform data zero deviation compensation, and then according to the compensated acceleration (a x , a y , a z ) and angular velocity ( g x , g y , g z ) data is used for posture calculation, and part of the measurement data of the handheld smart terminal is recorded and saved to the Micro SD card for later data analysis.
  • the data display unit uses a 4-wire TFT true color screen with SPI interface.
  • the data transmission unit is wireless transmission, using wired and wireless transmission modes.
  • the wired transmission mode uses USB data format transmission
  • the wireless transmission uses Bluetooth encryption mode transmission.
  • the small Bluetooth MS50SF A1M can be used for data transmission.
  • the spine measuring instrument is very convenient to use. Turn on the power switch and move along the spine.
  • the data display unit can display posture data, including kyphosis, scoliosis and scoliosis.
  • the upper computer analysis and display part adopts LabVIEW to realize interface programming, and its functions include:
  • the posture calculation steps of the spine measuring instrument are as follows.
  • Reference coordinate system-OX n Y n Z n (n-system): According to the needs of spine measurement, the geographic coordinate system is adopted as the reference coordinate system.
  • the geographic coordinate system is a northeast sky coordinate system defined relative to the horizontal plane of the earth. Its origin is on the surface of the earth.
  • the OZ n axis is along the line connecting the center of the earth and the origin of the coordinate system and points to the sky, perpendicular to the local horizontal plane.
  • the plane formed by OX n Y n is located in the local horizontal plane.
  • the two horizontal coordinate axes point to the east and the north respectively, and the three coordinate axes point in accordance with the right-hand rule.
  • Measurement coordinate system-OX b Y b Z b (b-system): The measurement coordinate system is established along the three coordinate axes of the measuring instrument. Among them, take the center of gravity of the measuring instrument as the origin of the b-system, the OX b axis and the OY b axis are in the same plane and perpendicular to each other, and the OZ b axis is in the same direction as the measuring instrument axis and perpendicular to the OX b axis and OY b axis. Plane.
  • the three-axis accelerometer and the three-axis gyroscope are fixedly connected to the coordinate system of the measuring instrument, and are installed orthogonally along the three axes of the measuring instrument.
  • the posture of the spine and the angle of scoliosis are determined by the azimuth relationship between the b-system and the n-system of the measuring instrument. According to Euler's theorem, any posture of the measuring instrument can be described by a series of rotations of the b-system relative to the n-system. The angle of each rotation is the side bend angle ⁇ , the kyphosis angle ⁇ , and the side lobe angle ⁇ , namely the Euler angle. Furthermore, the coordinate transformation matrix from n-system to b-system can be obtained as
  • the side bend angle ⁇ is defined as the angle between the geomagnetic north direction in the counterclockwise direction and the projection of the OZ b axis on the ground plane ,
  • the value range of ⁇ is 180° ⁇ 180°
  • the kyphotic angle ⁇ is defined as the angle between the OX b axis and the ground plane, and the value range of ⁇ is -90° ⁇ +90°
  • the lateral convex angle ⁇ is defined Is the angle between the OY b axis and the ground plane, and the value range of ⁇ is 90° ⁇ 90°.
  • I the attitude transformation matrix from b-system to m-system
  • g 0 the acceleration of gravity
  • the accelerometer data a x , a y , a z preprocessed by the measuring instrument can be used to calculate the kyphosis angle ⁇ a and the scoliosis angle ⁇ a as
  • the pose matrix can also be represented by a quaternion:
  • Quaternion update calculate the quaternion with the three-axis data g x , g y , g z measured by the gyroscope
  • T is the sampling period.
  • a x , a y , a z may include external acceleration, that is, not all acceleration due to gravity, so use the actual accelerometer
  • the output data needs to be adjusted, and the design automatically adjusts the parameters That is, when k>1, it means that the kyphotic angle and the side bend angle calculated using the data output by the accelerometer have a certain error, which is related to k. The larger the k, the greater the error. At this time, the angle calculated by the acceleration is smaller. ; When k ⁇ 1, use the acceleration to calculate the data, namely
  • the compensated kyphotic angle, side lobe and side bend angle are

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Abstract

一种基于MIMU的便携脊柱测量仪包括手持智能终端，该手持智能终端实现脊柱姿态测量功能，包括MIMU数据采集单元和数据预处理和姿态解算单元。MIMU数据采集单元利用三轴加速度计、三轴陀螺仪和温度计采集测量仪在脊柱上移动时的加速度、角速度和温度数据，并传输给数据预处理和姿态解算单元。数据预处理和姿态解算单元先进行温度漂移补偿，再采用时间序列分析和强跟踪卡尔曼滤波的处理算法，估计角速度和加速度零点偏差，进行数据零点偏差补偿，然后根据补偿后的加速度和角速度数据进行脊柱姿态解算。该脊柱测试仪操作简单，可即时快速度三维角度动态测量，实时每个脊椎和脊柱姿态，测量精度更准确。

Description

一种基于MIMU的便携脊柱测量仪及方法 技术领域
本发明专利公开了一种基于MIMU的便携脊柱测量仪，为医疗器械技术领域。
背景技术
在门诊诊断过程中，脊柱外科医生需要得到脊柱侧弯的病人cobb角，在测量cobb角时需要在X光片上多处多道辅助线，并通过量角器测量出夹角，通过计算其补角方可得到最后结果即cobb角。在测量脊柱cobb角的过程中需要使用各种医疗器械，但是在测量过程中极易导致人为的出错，使用繁琐且可靠性不高，而针对脊柱的测量专用仪器则又存在着不易携带，设备笨重且使用成本高的弊端。
目前，电子脊柱测量仪，如瑞士的Idiag SpinalMouse和以色列的SpineScanTM，其测量原理是一样的，基于大地倾角的测量，也即是三维电子重力角度感应技术；由于测量角度是根据重力三个轴向上计算的，必定会受重力提取精度的影响；由于一次只能测量一个角度，要想其他角度测量时，就必需得设计其他模式，导致测量操作繁琐；在大角度测量时，会存在很大的抖动误差；还有一种脊柱电子测量仪的核心测量传感器采用电阻式应变计或应变片，而应变是用来测量应力变化，一般测量微小变化，而脊柱可能大角度的变化，所以在测量原理上可能存在一些问题；另外，由于这些脊柱测量仪由主机、计算机、打印机组成，还不能做到便携。
发明内容
近年来，MEMS惯性器件以其成本低、体积小、寿命长、集成化、抗冲击能力强和可靠性高等优势，成为姿态测量的首选器件。
本发明的目的在于通过构建由三轴MEMS加速度计和三轴MEMS陀螺仪的MIMU惯性测量系统，通过脊柱测量仪在脊柱上滑动时的加速度和角速度，进而互补组合测量，同时高精度的解算出每个脊椎的三个角度(后凸角、侧凸角、侧弯角)，进而就能获得整个脊柱的角度变化。
脊柱测量仪主要包括两部分：手持智能终端测量部分和上位机分析显示部分。
手持智能终端测量部分包括：MIMU数据采集单元、数据预处理和姿态解算单元、数据显示单元、数据传输单元，该智能终端测量部分实现姿态测量功 能，可单独使用。
MIMU数据采集单元包括三轴加速度计、三轴陀螺仪和温度计，加速度计和陀螺仪输出加速度、角速度和温度数据，经过放大，根据设置的数据采样频率和带宽，经过SPI接口传输到数据预处理和姿态解算单元。
数据预处理和姿态解算单元也即是脊柱姿态测量的核心单元，硬件上由高速的嵌入式处理器、静/动态存储器、micro SD卡、外围辅助电子元件构成，先进行温度漂移补偿，然后采用时间序列分析和强跟踪卡尔曼滤波的处理算法，估计角速度和加速度零点偏差，进行数据零点偏差补偿，然后根据补偿后的加速度和角速度数据进行姿态解算，并将原始加速度、角速度和脊柱姿态数据记录到micro SD卡。
数据显示单元为SPI接口的4线制的TFT真彩屏。
数据传输单元为无线传输，采用有线和无线传输模式，有线传输模式采用USB数据格式传输，无线传输采用蓝牙加密模式传输。
上位机分析显示部分采用LabVIEW实现界面编程，其功能包括：
1)测量数据波形图显示和保存，即惯性测量数据(振动加速度和角速度)；
2)脊柱测量时脊柱的3D运动轨迹及姿态动态显示，对解算的脊柱姿态数据
记录保存；
3)远程读取，用于医护人员脊柱姿态分析。
脊柱测量仪的姿态解算步骤如下。
坐标系定义及其之间的转换关系是测量仪姿态解算的必备基础之一，坐标系定义坐标系及姿态描述：
基准坐标系——OX nY nZ n(n-系)：根据脊柱测量需求，采用地理坐标系作为基准坐标系。地理坐标系是相对于大地水平面定义的东北天坐标系，其原点位于地球表面，OZ n轴沿地心与坐标系原点的连线并指向天向，垂直于当地水平面。OX nY n所组成的平面位于当地水平面内，两水平坐标轴分别指向东向和北向，三个坐标轴指向符合右手定则。
测量坐标系——OX bY bZ b(b-系)：测量坐标系沿测量仪的三个坐标轴建立。其中，取测量仪的重心为b-系的原点，OX b轴和OY b轴在同一平面内且互相垂直，OZ b轴与测量仪轴线方向一致，且垂直于OX b轴和OY b轴构成的平面。三轴加速度计和三轴陀螺仪固联于测量仪坐标系，并沿测量仪的三个轴向正交安装。
脊柱的姿态和侧弯角，是由测量仪b-系相对于n-系的方位关系确定的。根据欧拉定理可知，测量仪任一姿态都可以采用b-系相对n-系的一系列转动来描述。 每次旋转的角度依次为侧弯角ψ、后凸角θ和侧凸角γ，即欧拉角。进一步，可得到n-系到b-系的坐标变换矩阵为
Figure PCTCN2019088259-appb-000001
基于上述坐标系描述，可定义测量仪测量的侧弯角、后凸角和侧弯角，侧弯角ψ定义为地磁北向沿逆时针方向与OZ b轴在地平面的投影之间的夹角，ψ的取值范围为90°～90°；后凸角θ定义为OX b轴与地平面之间的夹角，θ的取值范围为-90°～+90°；侧凸角γ定义为OY b轴与地平面之间的夹角，γ的取值范围为90°～±90°。
在b-系中，测量仪稳定时沿三个轴向安装的加速度计只受到重力加速度的影响，此时加速度计实际测量值为重力加速度。在n-系中，重力矢量的方向始终朝下，而在其它轴向上的分量为零。重力加速度信号从b-系到n-系的转换关系为：
Figure PCTCN2019088259-appb-000002
其中，
Figure PCTCN2019088259-appb-000003
为b-系到m-系的姿态变换矩阵，g为重力加速度，a xc,a yc,a zc为重力加速度在b-系中三个轴向上的计算分量。
将式(1)代入式(2)得
Figure PCTCN2019088259-appb-000004
对(3)求解，可采用测量仪中的加速度计数据计算后凸角θ a和侧凸角γ a为
Figure PCTCN2019088259-appb-000005
当后凸角或侧凸角的大角度测量时，a z→0，导致γ a角度大范围波动，当 θ a>85度时，在计算γ a时补偿一个a y项，
Figure PCTCN2019088259-appb-000006
姿态矩阵也可用四元数表示为
Figure PCTCN2019088259-appb-000007
初始四元数计算：采用θ a、γ a、0初始化四元数
Figure PCTCN2019088259-appb-000008
更新四元数：通过陀螺仪测量的三轴角速度数据g x,g y,g z计算四元数
Figure PCTCN2019088259-appb-000009
利用陀螺仪数据获得的四元数计算后凸角θ g、侧凸角γ g和侧弯角ψ g：
Figure PCTCN2019088259-appb-000010
采用加速度计输出的数据a x,a y,a z解算的后凸角和侧凸角，由于a x,a y,a z可能包含外界加速度，即不全是重力加速度，所以利用加速度计实际输出的数据需要调节，设计自动调节参数
Figure PCTCN2019088259-appb-000011
即k>1时，说明利用加速度计输出的数据解算的后凸角和侧弯角有一定的误差，和k有关，k越大，误差越大，此时利用加速度解算的角度小一些；当k≈1时，利用加速度解算数据，即
Figure PCTCN2019088259-appb-000012
计算姿态矩阵下的重力加速度，即把重力加速度投影到姿态矩阵下，即得
Figure PCTCN2019088259-appb-000013
如果姿态矩阵准确，则计算的重力加速度和三个轴向上输出的重力加速度是一样的，但实际上存在误差，设侧弯角误差Δψ，该误差正比于向量
Figure PCTCN2019088259-appb-000014
和向量
Figure PCTCN2019088259-appb-000015
的叉乘中的a x*a yc-a y*a xc项，设比例系数为p，则Δψ＝p(a x*a yc-a y*a xc)，利用Δψ进行补偿ψ g，考虑加速度波动的影响，即k的影响，即侧弯角
Figure PCTCN2019088259-appb-000016
补偿后的后凸角、侧凸角和侧弯角为
Figure PCTCN2019088259-appb-000017
本发明脊柱测试仪无需用户自定义、操作简单、无创、可即时快速度三维角度动态测量，实时每个脊椎和脊柱姿态，测量精度更准确，不仅仅应用于脊柱姿态测量，可广泛应用于其他场合，如学校、儿保科、骨科、康复科、运动医学研究所、人体解剖实验室、生理实验室、保健实验室、国民体质监测中心、社区保健中心、疗养院、体检中心、老年医学等的姿态测量。
附图说明
图1是本发明脊柱测量仪系统结构；
图2是本发明脊柱测量仪姿态解算流程。
具体实施方式
如图1所示脊柱测量仪系统结构图。
脊柱测量仪主要包括两部分：手持智能终端测量部分和上位机分析显示部分。
手持智能终端测量部分包括：MIMU数据采集单元、数据预处理和姿态解算单元、数据显示单元、数据传输单元。
MIMU数据采集单元传感器硬件采用三轴模拟硅微MEMS陀螺PA-3ARG-01 ，QFN封装，供电电压5V，尺寸25mm×25mm×24mm，具有SPI接口，角速率分辨率为0.0625dps/LSB，动态可选的全量程范围(±250/±500/±1000/±2000°/s)，输出数据频率(ODR)范围：12.5Hz至800Hz；加速度计采用Colibrys的MS9000系列加速度计，具有从±2g到±250g大范围量程，超小型LCC20封装(8.9mm×8.9mm)，加速度计和陀螺仪输出加速度和角速度数据，经过谐振电路放大，采用二阶系统设置数据采样频率和带宽，再经过SPI接口传输到数据预处理和姿态解算单元。
数据预处理和姿态解算单元也即是脊柱姿态测量的核心单元，硬件上采用STM32F4系列处理器，32-bit，处理速度168MHz，具有多种接口CAN，DCMI，EBI/EMI，以太网，I2C，IrDA，LIN，SPI，UART/USART，USB OTG等，自带A/D24x12b数据接口，程序存储器容量1MB，RAM容量192K，外接256G Micro SD卡，对接收的加速度、角速度和温度，先进行温度漂移补偿，然后采用时间序列分析和强跟踪卡尔曼滤波的处理算法，估计角速度和加速度零点偏差，进行数据零点偏差补偿，再根据补偿后的加速度(a x,a y,a z)和角速度(g x,g y,g z)数据进行姿态解算，并对手持智能终端部分测量数据进行记录，保存到Micro SD卡中，用于后期数据分析。
数据显示单元采用SPI接口的4线制TFT真彩屏。
数据传输单元为无线传输，采用有线和无线传输模式，有线传输模式采用USB数据格式传输，无线传输采用蓝牙加密模式传输，可利用小型蓝牙MS50SF A1M进行数据传输。
脊柱测量仪使用非常便捷，打开电源开关，沿着脊柱移动即可，数据显示单元就能显示姿态数据，包括后凸角、侧凸角和侧弯角。
上位机分析显示部分采用LabVIEW实现界面编程，其功能包括：
1)测量数据波形图显示和保存，即惯性测量数据(振动加速度和角速度)；
2)脊柱测量时脊柱的3D运动轨迹及姿态动态显示，对解算的脊柱姿态数据记录保存；
3)远程读取，用于医护人员脊柱姿态分析。
脊柱测量仪的姿态解算步骤如下。
坐标系定义及其之间的转换关系是测量仪姿态解算的必备基础之一，坐标系定义坐标系及姿态描述如下。
基准坐标系——OX nY nZ n(n-系)：根据脊柱测量需求，采用地理坐标系作为基准坐标系。地理坐标系是相对于大地水平面定义的东北天坐标系，其原点位于地球表面，OZ n轴沿地心与坐标系原点的连线并指向天向，垂直于当地水平面。OX nY n所组成的平面位于当地水平面内，两水平坐标轴分别指向东向和北向，三个坐标轴指向符合右手定则。
测量坐标系——OX bY bZ b(b-系)：测量坐标系沿测量仪的三个坐标轴建立。其中，取测量仪的重心为b-系的原点，OX b轴和OY b轴在同一平面内且互相垂直，OZ b轴与测量仪轴线方向一致，且垂直于OX b轴和OY b轴构成的平面。三轴加速度计和三轴陀螺仪固联于测量仪坐标系，并沿测量仪的三个轴向正交安装。
脊柱的姿态和侧弯角，是由测量仪b-系相对于n-系的方位关系确定的。根据欧拉定理可知，测量仪任一姿态都可以采用b-系相对n-系的一系列转动来描述。每次旋转的角度依次为侧弯角ψ、后凸角θ和侧凸角γ，即欧拉角。进一步，可得到n-系到b-系的坐标变换矩阵为
Figure PCTCN2019088259-appb-000018
基于上述坐标系描述，可定义测量仪测量的侧弯角、后凸角和侧弯角，侧弯角ψ定义为地磁北向沿逆时针方向与OZ b轴在地平面的投影之间的夹角，ψ的取值范围为180°～180°；后凸角θ定义为OX b轴与地平面之间的夹角，θ的取值范围为-90°～+90°；侧凸角γ定义为OY b轴与地平面之间的夹角，γ的取值范围为90°～±90°。
其姿态解算流程，如图2所示。
在b-系中，测量仪稳定时沿三个轴向安装的加速度计只受到重力加速度的影响，此时加速度计实际测量值为重力加速度。在n-系中，重力矢量的方向始终朝下，而在其它轴向上的分量为零。重力加速度信号从b-系到n-系的转换关系为：
Figure PCTCN2019088259-appb-000019
其中，
Figure PCTCN2019088259-appb-000020
为b-系到m-系的姿态变换矩阵，g 0为重力加速度。
将式(1)代入式(2)得
Figure PCTCN2019088259-appb-000021
对(3)求解，则可利用测量仪预处理后的加速度计数据a x,a y,a z计算的后凸角θ a和侧凸角γ a为
Figure PCTCN2019088259-appb-000022
当后凸角或侧凸角的大角度测量时，a z→0，导致γ a角度大范围波动，当θ a>85度时，在计算γ a时补偿一个a y项，
Figure PCTCN2019088259-appb-000023
姿态矩阵也可用四元数表示：
Figure PCTCN2019088259-appb-000024
初始四元数计算：采用θ a、γ a、0初始化四元数
Figure PCTCN2019088259-appb-000025
四元数更新：通过陀螺仪测量的三轴的数据g x,g y,g z计算四元数
Figure PCTCN2019088259-appb-000026
T为采样周期。
利用陀螺仪数据获得的四元数计算姿态角：
Figure PCTCN2019088259-appb-000027
采用加速度计输出的数据a x,a y,a z解算的后凸角和侧凸角，由于a x,a y,a z可能包含外界加速度，即不全是重力加速度，所以利用加速度计实际输出的数据需要调节，设计自动调节参数
Figure PCTCN2019088259-appb-000028
即k>1时，说明利用加速度计输出的数据解算的后凸角和侧弯角有一定的误差，和k有关，k越大，误差越大，此时利用加速度解算的角度小一些；当k≈1时，利用加速度解算数据，即
Figure PCTCN2019088259-appb-000029
计算姿态矩阵下的重力加速度，即把重力加速度投影到姿态矩阵下，即得
Figure PCTCN2019088259-appb-000030
如果姿态矩阵准确，则计算的重力加速度和三个轴向上输出的重力加速度是一样的，但实际上存在误差，设侧弯角误差Δψ，该误差正比于向量
Figure PCTCN2019088259-appb-000031
和向量
Figure PCTCN2019088259-appb-000032
的叉乘中的a x*a yc-a y*a xc项，设比例系数为p，则Δψ＝p(a x*a yc-a y*a xc)，利用Δψ进行补偿ψ g，考虑加速度波动的影响，即k的影响，即侧弯角
Figure PCTCN2019088259-appb-000033
补偿后的后凸角、侧凸角和侧弯角为
Figure PCTCN2019088259-appb-000034

Claims (8)

  1. 一种基于MIMU的便携脊柱测量仪，其特征在于包括手持智能终端，所述手持智能终端实现脊柱姿态测量功能，主要包括MIMU数据采集单元和数据预处理和姿态解算单元，所述MIMU数据采集单元利用三轴加速度计、三轴陀螺仪和温度计采集测量仪在脊柱上移动时的加速度、角速度和温度数据，并传输给所述数据预处理和姿态解算单元；所述数据预处理和姿态解算单元先进行温度漂移补偿，再采用时间序列分析和强跟踪卡尔曼滤波的处理算法，估计角速度和加速度零点偏差，进行数据零点偏差补偿，然后根据补偿后的加速度和角速度数据进行脊柱姿态解算。
  2. 如权利要求1所述的基于MIMU的便携脊柱测量仪，其特征在于所述手持智能终端包括数据显示单元，所述数据显示单元用于显示脊柱姿态，包括后凸角、侧凸角和侧弯角。
  3. 如权利要求2所述的基于MIMU的便携脊柱测量仪，其特征在于所述数据显示单元为SPI接口的4线制的TFT真彩屏。
  4. 如权利要求1所述的基于MIMU的便携脊柱测量仪，其特征在于包括上位机，所述手持智能终端包括数据传输单元，采用有线或无线传输模式，将姿态解算结果发送给所述上位机进行分析、显示。
  5. 如权利要求4所述的基于MIMU的便携脊柱测量仪，其特征在于所述上位机采用LabVIEW实现界面编程，其分析、显示功能包括：测量数据波形图显示和保存；脊柱测量时脊柱的3D运动轨迹及姿态动态显示，对解算的脊柱姿态数据记录保存；远程读取，用于医护人员脊柱姿态分析。
  6. 如权利要求1所述的基于MIMU的便携脊柱测量仪，其特征在于所述数据预处理和姿态解算单元由高速的嵌入式处理器、静/动态存储器、micro
    SD卡、外围辅助电子元件构成。
  7. 如权利要求1所述的基于MIMU的便携脊柱测量仪，其特征在于所述MIMU数据采集单元采集的数据经过放大，根据设置的数据采样频率和带宽，通过SPI接口传输给所述数据预处理和姿态解算单元。
  8. 权利要求1所述脊柱测量仪的姿态解算方法，其特征在于包括：
    1)坐标系转换及姿态描述：
    坐标系定义如下：
    基准坐标系n-系——OX nY nZ n：根据脊柱测量需求，采用地理坐标系作为基准坐标系；
    测量坐标系b-系——OX bY bZ b：测量坐标系沿测量仪的三个坐标轴建立；其中， 取测量仪的重心为b-系的原点，OX b轴和OY b轴在同一平面内且互相垂直，OZ b轴与测量仪轴线方向一致，且垂直于OX b轴和OY b轴构成的平面；三轴加速度计和三轴陀螺仪固联于测量仪坐标系，并沿测量仪的三个轴向正交安装；
    n-系到b-系的坐标变换矩阵为
    Figure PCTCN2019088259-appb-100001
    基于上述坐标系描述，定义测量仪测量的侧弯角、后凸角和侧弯角，侧弯角ψ定义为地磁北向沿逆时针方向与OZ b轴在地平面的投影之间的夹角，ψ的取值范围为90°～90°；后凸角θ定义为OX b轴与地平面之间的夹角，θ的取值范围为-90°～+90°；侧凸角γ定义为OY b轴与地平面之间的夹角，γ的取值范围为90°～±90°；
    在b-系中，测量仪稳定时沿三个轴向安装的加速度计只受到重力加速度的影响，此时加速度计实际测量值为重力加速度；在n-系中，重力矢量的方向始终朝下，而在其它轴向上的分量为零；重力加速度信号从b-系到n-系的转换关系为：
    Figure PCTCN2019088259-appb-100002
    其中，
    Figure PCTCN2019088259-appb-100003
    为b-系到m-系的姿态变换矩阵，g 0为重力加速度，a xc,a yc,a zc为重力加速度在b-系中三个轴向上的计算分量；
    将式(1)代入式(2)得
    Figure PCTCN2019088259-appb-100004
    对(3)求解，采用测量仪中的加速度计数据计算后凸角θ a和侧凸角γ a为
    Figure PCTCN2019088259-appb-100005
    其中，a x,a y,a z为加速度计输出数据；
    当后凸角或侧凸角的大角度测量时，a z→0，导致γ a角度大范围波动，当θ a>85度时，在计算γ a时补偿一个a y项，
    Figure PCTCN2019088259-appb-100006
    2)姿态矩阵也可用四元数表示为
    Figure PCTCN2019088259-appb-100007
    初始四元数计算：采用θ a、γ a、0初始化四元数
    Figure PCTCN2019088259-appb-100008
    更新四元数：通过陀螺仪测量的三轴的加速度数据g x,g y,g z计算四元数
    Figure PCTCN2019088259-appb-100009
    利用陀螺仪数据获得的四元数计算后凸角θ g、侧凸角γ g和侧弯角ψ g：
    Figure PCTCN2019088259-appb-100010
    采用加速度计输出的数据a x,a y,a z解算的后凸角和侧凸角，由于a x,a y,a z可能包含外界加速度，即不全是重力加速度，所以利用加速度计实际输出的数据得需要调节，设计自动调节参数
    Figure PCTCN2019088259-appb-100011
    即k>1时，说明利用加速度计输出的数据解算的后凸角和侧弯角有一定的误差，和k有关，k越大，误差越大，此时利用加速度解算的角度要小一些；当k≈1时，完全利用加速度解算的数据，即
    Figure PCTCN2019088259-appb-100012
    3)计算姿态矩阵下的重力加速度，即把重力加速度投影到姿态矩阵下，即得
    Figure PCTCN2019088259-appb-100013
    如果姿态矩阵准确，则计算的重力加速度和三个轴向上输出的重力加速度是一样的，但实际上存在误差，设侧弯角误差Δψ，该误差正比于向量
    Figure PCTCN2019088259-appb-100014
    和向量
    Figure PCTCN2019088259-appb-100015
    的叉乘中的a x*a yc-a y*a xc项，设比例系数为p，则Δψ＝p(a x*a yc-a y*a xc)，利用Δψ进行补偿ψ g，考虑加速度波动的影响，即k的影响，即侧弯角
    Figure PCTCN2019088259-appb-100016
    补偿后的后凸角、侧凸角和侧弯角为
    Figure PCTCN2019088259-appb-100017
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