基于MEMS惯性地磁测量组件的人体运动跟踪与捕捉方法
关键词：惯性测量单元; 磁传感器; 姿态解算; 四元数算法; 分解四元数算法;
毕业设计说明书（论文）英文摘要
Title The human body motion tracking and capturing method based on MEMS inertial/geomagnetic measurements
Abstract
Along with the development of the virtual reality technology，the human body motion tracking and capture method is gradually applied to capture animation production, rehabilitation medicine, movie stunt, etc. There human body motion tracking and capture method based on MEMS inertia/geomagnetic measurements components was proposed. There are Quaternions estimation algorithm , the factored quaternion algorithm (FQA) and the first two algorithm combining the method for the attitude.
Quaternions algorithm uses accelerometer and gyroscope measured values for calculating attitude information. Because the gyroscope's much error, Quaternions algorithm can produce error accumulation phenomenon, so quaternions method is not suitable for long time use. FQA algorithm using the three accelerometer measurement value to determination the objects of the roll and pitch Angle, then reuse three axis magnetic sensor calculation yaw Angle. The biggest advantage of this algorithm is that small amount of calculation. But it is only suitable for use carrier static or moving slow position of the solution. Combining The FQA algorithm and the quaternions algorithm which setting threshold value to judge carrier acuteness degree of motion method. It can make up for the shortcomings of each algorithm, and reduce the error.
Keywords IMU magnetic sensors attitude calculation Quaternions algorithm FQA
目 录
一 绪论 1
1.1 论文研究背景及意义 1
1.2 国内外研究现状 1
1.2.1 机械式运动捕捉 2
1.2.2 光学式运动捕捉 2
1.2.3 声学式运动捕捉 2
1.2.4 电磁式运动捕捉 3
1.2.5 本论文研究方法现状 3
1.3 本论文主要内容 4
二 基于惯性测量组件的人体姿态捕捉方法 5
2.1 惯性测量单元简介 5
2.2 基于四元数算法的姿态捕捉方法 5
2.2.1 四元数的基本概念 6
2.2.2 人体姿态捕捉中常用坐标系 8
2.2.3 四元数姿态解算方法 9
2.2.4 四元数姿态算法中初始姿态的确定 15