英文摘要 | Human motion tracking technology is the important parts of the fields of the human-computer interaction and virtual reality research. With the development of the MEMS sensor technology, micro-inertial human motion tracking technology, has matured, is a means to an alternative to the optical human motion tracking. Body posture information, by MEMS inertial technology, is not subject to the constraints of the experimental room environment. Clearly, the human motion tracking sensors is the key technologies of MEMS inertial technology for human motion tracking, such sensors have little dependence on the environment, without regard to the occlusion problem of the optical tracking. In theory, it can simultaneously track more than one body's posture information of the same scene. This paper is focused on human motion tracking sensor design, calibration, data fusion and human motion tracking system design, details are as follows: 1. Combined with the current status of the development of MEMS sensors, a human motion tracking sensor hardware design schemes have been proposed. In order to reduce the volume, Highly integrated MEMS sensors was used in the human motion tracking sensors, DSP processor was selected as the core processor to ensure that the run-time integration algorithm, serial communication port SCI and CAN bus communication port respectively to meet the needs of the single motion tracking sensors or more than one motion tracking sensor at the same time. Late experiments also verified the reasonableness of the sensor platform. 2. A MEMS sensor calibration method without precision instruments was proposed. First, three-axis sensor (tri-axis accelerometer tri-axis accelerometer and 3-axis magnetometer)error sources was analyzed, and established a three-axis sensor error model, which including the zero drift, scale factor, non-orthogonal error and non-aligned error, The genetic algorithm is used to solve the error parameter. Sensor self-calibration method was used in the calibration process, such as three-axis gyro error calibrated by tri-axis accelerometer and tri-axis magnetic. Finally the experiments verify the validity of the calibration method. 3. Research-based human motion tracking sensors to obtain the body posture was discussed. For real-time sampling a number of human motion tracking sensors data, the human motion tracking system controller, designed in this paper, can communicate with computer by both the wired and wireless methods. The ex... |
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