The key technology of human motion tracking system is very important in the fields of virtual reality, human-computer interaction, animation, interactive entertainment, virtual training and kinematic analysis. With the development of MEMS (Micro-electro mechanical Systems), new type MEMS sensors are available which are qualified of low price, small size, light weight and high precision. There is a very wide application prospects to capture human motion utilizing MEMS sensors. The main content of this paper is related to the key technology of human motion tracking based on MEMS technology. First of all, orientation methods of human motion tracking based on inertial technology as well as sensors calibration methods are systematically studied. Then, started with gait analysis, position methods of human motion tracking based on inertial technology is considered. Finally, a human motion tracking system is designed and implemented integrated with above methods. The main contents are presented as follows: Firstly, an adaptive fast human body orientation tracking algorithm is proposed. This algorithm integrates triaxial gyroscope, triaxial accelerometer and triaxial magnetometer to obtain real-time human orientation, which combines Gauss-Newton method and adaptive filter. First, based on the procedure of reduced Gauss-Newton method, a new method which avoids computing matrix inversion during every orientation update is proposed to reduce computation. Second, with respect to disturbance of magnetic field and acceleration of human motion, an adaptive method is presented to reduce orientation accuracy. Compared with the traditional Kalman filter, this method has a small computation and accurate orientation under the condition of magnetic-field interference and transient acceleration. Secondly, a sensor calibrated procedure based on Genetic Algorithm is presented. This method can quickly calibrate CASTracker (the high precision attitude tracking system which is developed by our research group). Taking full advantage of the constant norm of sensor outputs and space rotation angle of cross product by sensors, the Genetic Algorithm can obtain the accurate sensor paremeters and sensors alignments. Experiments show the validity of this method. Thirdly, a preliminary method to obtain joint position based on gait analysis is put forward. This paper analyzes the current research situation of inertial human motion position tracking, refers to d...
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