Mutual calibration method based on alternating electromagnetic field positioning and inertial sensor

Abstract

The invention discloses a mutual calibration method based on alternating electromagnetic field positioning and an inertial sensor. The method comprises the steps: enabling one type of electromagneticfield radiator in a human body posture obtaining system to correspond to the inertial sensor, and enabling the type of electromagnetic field radiator and the inertial sensor to obtain the displacementinformation of a target at the same time; obtaining angle information of the electromagnetic field radiator relative to another electromagnetic field radiator based on a human body posture obtainingsystem; calibrating the angle information, obtained by the inertial sensor, in the horizontal direction of the target by utilizing the angle information; an inertial motion capture device is combinedwith an alternating electromagnetic field position calculation system; an alternating electromagnetic field position calculation system and inertia six-axis sensor angle calculation are used for mutual calibration, and the geomagnetic meter is replaced with angle information in one direction calculated by the alternating electromagnetic field position calculation system and the inertia six-axis sensor angle calculation, so that the inertia six-axis sensor obtains a long-term stable calibration basis, and respective problems are solved.

Description

technical field [0001] The invention relates to the field of human body motion capture, in particular to a method for mutual calibration of positioning and inertial sensors based on alternating electromagnetic fields. Background technique [0002] The current human motion capture technologies mainly include: [0003] The first is motion capture, such as camera motion capture technology, which has the disadvantages of being afraid of light interference and occlusion; [0004] The second type is the inertial motion capture device, such as the anti-metal interference inertial motion capture, there is a problem that the accuracy drifts with time and cannot be used for a long time; [0005] The third type is external electromagnetic field capture, such as electromagnetic capture devices, which must be used within the range of the external antenna system and are very susceptible to interference; [0006] The fourth type is wearable electromagnetic field capture, such as the elec...

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Problems solved by technology

[0003] The first is motion capture, such as camera motion capture technology, which has the disadvantages of being afraid of light interference and occlusion;

[0004] The second type is the inertial motion capture device, such as the anti-metal interference inertial motion capture, there is a problem that the accuracy drifts with time and cannot be used for a long time;

[0005] The third type is external electromagnetic field capture, such as electromagnetic capture devices, which must be used within the range of the external antenna system and are very susceptible to interference;

[0006] The fourth type is wearable electromagnetic field capture, such as the electromagnetic capture technology based on human body wear, such as patent CN201711258283.X, there is a problem that the accuracy of small-scale rotation measurement is reduced due to the influence of skin artifacts and other factors; in this patent Since the action is calculated by measuring the relative distance and angle change between markers, since the human skin is an elastic surface, when the bone moves, the position of the marker is also pulled by the skin and muscles, so the distance and angle of the marker The change is the superposition of skin and bone movement. When the scale of bone movement is relatively small, the impact of skin pulling will become larger, and this effect often makes the test deviate.

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