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Wearable motion sensor and magnetic field interference resisting method of wearable motion sensor

A motion sensor and wearable technology, used in instruments, measuring devices, mapping and navigation, etc., can solve the problems of reduced accuracy and weak anti-magnetic field interference ability, and achieve the effect of less components, good versatility and simple hardware structure

Active Publication Date: 2017-06-23
NANJING ZHELI INTELLIGENT MFG RES INST CO LTD
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of weak anti-magnetic interference ability in the prior art, and provide a wearable motion sensor and its anti-magnetic field interference method, which solves the technical problem that the accuracy of the motion sensor decreases when there is external magnetic field interference

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[0036] The present invention will be further described below in conjunction with accompanying drawings, because it is convenient to understand better. The technical features in the present invention can be combined with each other under the premise of not conflicting with each other, which does not constitute a limitation.

[0037] Part noun meanings involved in the present invention are as follows:

[0038] Attitude angle is also called Euler angle, which is an intuitive attitude representation method. The Euler angle involved in the present invention is the Euler angle of the ZYX rotation sequence, wherein the rotation around the Z axis is the yaw angle, and the rotation around the Y axis is the pitch Angle, the rotation around the X axis is the roll angle.

[0039] Quaternion is another method of attitude representation. It can be understood as rotating an angle around a unit vector. Quaternion representation can avoid the singularity problem of Euler angle representation....

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Abstract

The invention discloses a wearable motion sensor and a magnetic field interference resisting method of the wearable motion sensor, belongs to the field of researches of the wearable motion sensors and aiming at accurately estimating a current attitude angle of the sensor in real time under the condition that magnetic field interference exists. A sensor module is used for acquiring real-time data of accelerations, angular speeds and magnetic fields; a current movement state and an external magnetic field interference condition of the sensor are judged according to the information; then multi-sensor information fusion is carried out by adopting a self-adaptive strategy and the attitude angle of the motion sensor is calculated and output. The wearable motion sensor is convenient to use, is not limited by field and is low in cost; the attitude angle of a human body part can be highly accurately measured in real time under the condition that the magnetic field interference exists; the wearable motion sensor has relatively high reliability and relatively good popularization prospect.

Description

technical field [0001] The invention belongs to the field of wearable sensors, in particular to a wearable motion sensor and its anti-magnetic field interference method. Background technique [0002] With the development of micro-electromechanical systems (MEMS) technology, MEMS-based inertial sensors and magnetometers are widely used in the field of human motion analysis, such as gesture recognition, joint kinematics analysis, Daily activity monitoring. Generally, a typical motion sensor includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. For human motion analysis, it is critical to accurately measure the posture of body parts. In order to accurately obtain the posture of body parts, multi-sensor information fusion through fusion algorithms is a common method. The more commonly used fusion algorithms include extended Kalman filter method, gradient descent method, complementary filter method, etc. Through these algorithms, the accura...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/005G01C21/165
Inventor 刘涛范冰飞李庆国
Owner NANJING ZHELI INTELLIGENT MFG RES INST CO LTD
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