基于微惯性全姿态测量的人体运动捕捉系统研究

摘要

Human motion capture system usually used optical methods.This paper puts forward human motion capture system based on Micro Inertial Technology.It overcomes the limitations of traditional methods which are affected by venues and obstacle.According to the characteristics of the human motion capture system,this micro inertial measurement unit which uses this method based on quaternion solver of Kalman filtering information fusion is constituted,which solves the whole attitude measurement.This paper puts forward the method of net grouped.This method solves the problems of multi-sensor communication.This paper also elaborates realization method about this system.Through the testing and experimentation,it proved this human motion capture system is stable at working.It also has some practical value.%人体运动捕捉系统一般采用光学方法,研究基于微惯性技术构成人体运动捕捉系统,克服了传统方法受场地和易受遮挡等局限性.根据人体运动捕捉系统的特点,采用基于四元数解算的卡尔曼滤波信息融合方法构成微惯性测量装置,解决了全姿态测量问题；提出了分组组网的方法,解决了多传感器通讯问题；同时还系统地阐述了这个系统的实现方法；测试和实验的结果表明,实现的人体运动捕捉系统工作稳定可靠,具有一定的实际参考价值.