A Real-Time Position, Velocity, and Physiological Monitoring and Tracking Device for Equestrian Training

摘要

This paper presents the design and implementation of a real-time tracking and monitoring device of the position, velocity, and physiological states of a horse for equestrian training purpose. The system consists of a mobile unit, a base station, and a wireless radio modem that allows a mobile unit and a base station to communicate over the industrial, scientific, and medical (ISM) radio band. The core of the mobile unit is a microprocessor which interfaces with a commercial GPS receiver module, a low-cost inertial measurement unit (IMU), and a horse heart rate sensor. The base station is a computer equipped with real-time data acquisition, processing, and analysis software. A Kalman filter is implemented to loosely couple the GPS and IMU measurements to capture the horse position and motion dynamics. Field test results will be presented in the paper.