CN104267815B - Motion capture system and method based on inertia sensing technology - Google Patents
Motion capture system and method based on inertia sensing technology Download PDFInfo
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Abstract
Motion capture system and method based on inertia sensing technology, it is related to the motion capture technology of cartoon making.In order to solve the problems, such as that existing optical trapping system can not precise restoration human action.System includes 17 inertia sensing nodes, main control computer and wireless transceiver；17 inertia sensing nodes are used to be arranged on the 17 information capture nodes divided on human skeleton the motion for being used to measure human body diverse location point correspondingly respectively, and wirelessly communicated with wireless transceiver, wireless transceiver is connected with main control computer, wireless transceiver is used to receive the data transmitted by all inertia sensing nodes, and data are handed into main control computer and handled, the control command that wireless transceiver is additionally operable to be sent main control computer is sent to inertia sensing node that is all or specifying.17 inertia sensing nodes are controlled to carry out data acquisition at same time point with two methods of pattern are uniformly controlled using distributed compensation pattern, to be reduced the action of human body exactly.
Description
Technical field
The present invention relates to a kind of motion capture system and method based on inertia sensing technology, it is related to the action of cartoon making
Capturing technology.
Background technology
The appearance of motion capture technology can trace back in the 1970s, Walt Disney Company is attempted to by catching performer
Action to improve cartoon making effect.When computer technology just starts to be applied to cartoon making, New York computer graphical skill
The Rebecca Allen in art laboratory just devise a kind of Optical devices, and the performance posture of performer is incident upon into computer screen
On, the reference as cartoon making.
Decades go over, and the most common type of motion capture system is still optical trapping system.Optics motion capture
System is arranged using 6-8 camera around performance venue, and the visual field overlapping region of these cameras is exactly the scope of performing artist, is passed through
It is labeled and is identified in body key position.Optical profile type system cost is high, and requires very high to light, at work
Specific light environment must be artificially produced, also often other positions are blocked by human body itself even if how to mark position, are led
Cause can not reduce accurate human action.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of motion capture system and method based on inertia sensing technology
Optical trapping system can not precise restoration human action the problem of.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
Technical scheme one：A kind of motion capture system based on inertia sensing technology, the system include being used to complete to move
Make the main part of capture-process and the accessory for back work during motion capture；Main part includes 17 and is used to
Property sensing node, main control computer and wireless transceiver；Slave part includes sensor node charger；17 inertia sensing nodes are used
In be arranged on correspondingly respectively divided on human skeleton 17 (according to human motion decomposition model) individual information capture section
On point, 17 inertia sensing nodes are used for the motion conditions for measuring human body diverse location point respectively；17 inertia sensing nodes lead to
Cross wireless mode to communicate with wireless transceiver, wireless transceiver is connected with main control computer, and wireless transceiver is used to receive all inertia
Data transmitted by sensing node, and data are handed into main control computer and handled, wireless transceiver is additionally operable to main control computer institute
The control command sent is sent to inertia sensing node that is all or specifying；Sensing node charger is used to pass for 17 inertia
Feel node charging.
The slave part also fixes bandage including seizure with exhibition suits and sensing node；The seizure is root with exhibition suits
The performance clothes customized according to human motion decomposition model, the seizure with being marked with 17 inertia sensing nodes respectively on exhibition suits
Position；The sensing node fixes bandage and is used to aid in fixing inertia sensing node.
Each inertia sensing node includes sensor assembly, data acquisition controller, wireless receiving and dispatching controller, battery and filled
Circuit and interface；Three kinds of sensors for being used for gathering kinematic parameter are included in sensor assembly：Three axis accelerometer, for surveying
X-axis is measured under local coordinate to acceleration, y-axis to acceleration, z-axis to acceleration；Three-axis gyroscope, for measuring under local coordinate
Around x-axis rotational angular velocity, around y-axis rotational angular velocity, around z-axis rotational angular velocity；Three axle magnetometer, for measuring under local coordinate
X-axis is to magnetic field intensity, y-axis to magnetic field intensity, z-axis to magnetic field intensity；Data acquisition controller is used to control sensor to enter line number
According to collection, and the data to collecting are filtered, Data Fusion obtains the exercise data of measuring node, and will move number
According to sending wireless receiving and dispatching controller to；Wireless receiving and dispatching controller is used for exercise data and the master control for controlling each inertia sensing node
Data transfer between machine；Battery and charging circuit and interface；Battery is sensor assembly, data by charging circuit and interface
Acquisition controller and the power supply of wireless receiving and dispatching controller.
Each inertia sensing node also includes auxiliary circuit, and the auxiliary circuit includes crystal oscillating circuit, sensor assembly
Power-supplying circuit, the power-supplying circuit of data acquisition controller, the power-supplying circuit and number of wireless receiving and dispatching controller
According to acquisition controller, sensor assembly, wireless receiving and dispatching controller interface circuit.
The wireless transceiver includes wireless control module, data conversion module, PA power amplifiers, omnidirectional antenna, USB controls
Molding block and interface, ethernet control module and interface and power supply circuit and power interface,
The power supply circuit and power interface be used for carry out voltage conversion, voltage stabilizing, filtering, decoupling, be wireless control module,
Data conversion module, PA power amplifiers, omnidirectional antenna, USB control modules and interface, ethernet control module provide required
Supply voltage or reference voltage；
The USB control modules and interface and ethernet control module and interface, for for wireless transceiver provide USB and
Two kinds of modes being connected with the main control computer of Ethernet select for user, for realizing the physical layer and link layer of two kinds of interfaces
Control work, complete the transmission between main control computer application data and data conversion module；
The data conversion module is used to control between wireless control module and USB control modules or ethernet control module
Transmit the buffering and Data Format Transform of data；
The wireless control module is consistent with wireless communications method used in inertia sensing node, for completing physically
The conversion of wireless signal and wire signal, receive the wireless signal that sensor assembly is sent, the data conversion that main control computer is sent
It is radiate into wireless signal；
PA power amplifiers are used for the power amplification for completing wireless control module output signal, while uniform using omnidirectional antenna
Radiation/reception wireless signal.
Technical scheme two：A kind of motion capture method based on inertia sensing technology, methods described are used to control 17 to be used to
Property sensing node same time point carry out data acquisition, to be reduced the action of human body exactly；Methods described is distribution
Compensation model, under distributed compensation pattern, it is known that the total duration of gathered data, 17 inertia sensing nodes are still according to respective
Clock carries out data acquisition and upload；Main control computer is after data are obtained, according to the total duration of gathered data and each nodal clock
The data that difference uploads to sensor carry out Interpolation compensation processing, obtain the exercise data of upper 17 nodes of same time point；Its
Implementation process is：
Step 1: each inertia sensing node data collection and upload：
Step 1 (1), node are powered after startup, initialize timer first；
Step 1 (2), sensing data, timer data are read, calculate this sensor gathered data and gathered away from last time
Time interval；
Step 1 (3), processing is filtered to sensing data, the kinematic parameter for filtering out burr to be stablized and magnetic field
Parameter；
Step 1 (4), according to time interval to 3 sensors (three axis accelerometer, three-axis gyroscope and three axle magnetic force
Meter) measurement obtain 9 data (x-axis to acceleration, y-axis to acceleration, z-axis to acceleration, x-axis to magnetic field intensity, y-axis to
Magnetic field intensity, z-axis to magnetic field intensity, around x-axis rotational angular velocity, around y-axis rotational angular velocity, around z-axis rotational angular velocity) enter line number
According to fusion treatment, x-axis under local coordinate, y-axis, the displacement data in z-axis and the quaternary under itself local coordinate are respectively obtained
Number or Eulerian angles；
Step 1 (5), judge whether to reach the time interval that data upload：If reaching, step is jumped to after uploading data
One (2)；If not up to, jumping directly to, step 1 (2) continues the sampling of inertial data and action is inferred；
Step 2: the above-mentioned each node data being acquired with respective clock is carried out that same time point is calculated
On data, process is as follows：
The total collection duration of step 2 (1), input；
Step 2 (2), main control computer receive a data respectively from 17 sensing nodes；
Step 2 (3), main control computer according to Interpolation compensation algorithm, the data of 17 nodes are recalculated interpolation obtain it is same
Exercise data on time point；
Step 2 (4), exercise data is sent to subsequent applications；
Step 2 (5), judge whether to have reached total collection duration, the 2nd step is jumped to if not up to, until reaching
Total collection duration.
The process of the Interpolation compensation includes
A, parameter calculation procedure：Parameter calculation procedure is generally completed dispatching from the factory or completed before motion capture：
A1, N is designated as respectively from being ranked up, number to fast order slowly by crystal oscillator to 17 sensing nodes1,N2,…,
N17；
A2, take N1Clock as reference clock, timing k minutes, obtain the counting of 17 sensing node clocks：T1.k(=
k),T2.k,T3.k,…,T17.k
A3, repeatedly measurement is averaged, and is obtained
A4, compensating parameter is calculated
A5, for k=1,2 ..., 60 repeat above-mentioned 3 steps respectively (typically lasts for uninterruptedly performing not over 60
Point)；
B, Interpolation compensation process：
B1, still take N1Clock as reference clock (standard of calculating)
B2, data acquisition total duration are n points
B3, for m-th of node Nm, l-th of the data collected are designated as Dm.l, it is converted into N1Reference clock is lFm.n, that
Time data be can be obtained by ＜ lFm.n,Dm.l〉
B4, when receiving the 1st node N1L-th of data D1.lWhen, revised data are RD1.l=D1.l；For (Represent the set of all natural numbers；For m (m ≠ 1) individual node, a natural number x) be present and cause (x-1)
Fm.n≤l<xFm.n, revised data are
B5、〈RD1.l,RD2.l,…,RD17.l＞ is the exercise data after Interpolation compensation.
Technical scheme three：A kind of motion capture method based on inertia sensing technology, methods described are used to control 17 to be used to
Property sensing node same time point carry out data acquisition, to be reduced the action of human body exactly；Methods described is using system
One clock is controlled, and using the clock of main control computer as standard time clock, is sent at the time of gathered data is needed and is broadcast to 17
Inertia sensing node, command sensor complete the collection of data and upload；
Inertia sensing node gathered data, data fusion operation and calculating displacement and rotation are completed by main control computer；
Its implementation process is：
Step 1: the unified timer that activation system (motion capture system based on inertia sensing technology) is global；
Step 2: marking time the time point waited when reaching data acquisition, if reached, step 3 is performed, is otherwise continued
Treat；
Step 3: the order of data acquisition is sent to 17 inertia sensing node broadcasts；
Step 4: receive the motion parameter data that 17 inertia sensing nodes upload；
Step 5: carrying out data fusion to the data of 17 inertia sensing nodes respectively according to time interval, respectively obtain
X-axis, y-axis, the displacement data in z-axis and quaternary number or Eulerian angles under 17 groups of itself local coordinates under 17 groups of local coordinates；
Step 6: exercise data is sent to subsequent applications；
Continued executing with Step 7: returning from step 2.
Technical scheme two and three is realized based on system described in technical scheme one.
The beneficial effects of the invention are as follows：
Motion capture system based on inertia sensing technology goes to measure human body using inertia sensing technology instead of optical system
Key position is moved, light is had no requirement, can be in outside work, the very wide model of adaptable scene, and can be entered
More person-times of row is caught simultaneously, and the deficiency that compensate for optical profile type system is same.
Motion capture system of the present invention based on inertia sensing technology and the existing action based on optical technology
The contrast of seizure system is as follows；
Motion capture system of the present invention based on inertia sensing technology has very high cost performance, has widened use
Scope, huge effect can be played in multiple industries：
1. video display, cartoon making
The efficiency of cartoon making can not only be improved, production cost is reduced, can also be that animation process is more directly perceived,
Effect is more lively.With the further maturation of technology, performance animation technology will obtain more and more extensive application, and act
Seizure system necessarily shows more importantly status as the part of performance animation most critical.
2. virtual reality system
To realize interacting for people and virtual environment and system, it is accurately tracked by measuring the action of participant and acts these
Detect in real time, these work are essential to virtual reality system, and this is also exactly the future of movement capturing technology
Application trend.
3. Robot remote
Motion capture system can catch human action, control same action is completed to class robot in real time.
This system can be realized more directly perceived, flexible compared with traditional remote control mode, greatly improve robot and deal with complex situations
Ability.
4. athletic training
Movement capturing technology can catch the action of sportsman, and carry out quantitative analysis；In combination with Human physiology, go through
The method of the Improvements such as history data, and then improve results.
Brief description of the drawings
Fig. 1 is the human skeleton basic model figure of the present invention, and Fig. 2 is the theory diagram of Multi-Sensor Data Fusion；Fig. 3 .1 are
The principle schematic of motion capture system based on inertia sensing technology, Fig. 3 .2 are sensing node structured flowchart, and Fig. 3 .3 are nothing
Line transceiver structured flowchart；Fig. 4 .1 are sensing node workflow diagram under distributed compensation pattern, and Fig. 4 .2 are distributed compensation pattern
Lower main control computer workflow diagram；Fig. 4 .3 are uniformly controlled pattern lower sensor workflow diagram, in figure：(a) it is main program flow
Figure, (b) is interrupt handling routine flow chart；Fig. 4 .4 are to be uniformly controlled pattern lower sensor workflow diagram.
Embodiment
Embodiment one：As shown in Figure 1, Figure 2, shown in Fig. 3 .1~3.3 and Fig. 4 .1~4.4, present embodiment is to this
The described motion capture system based on inertia sensing technology of invention and method are described in detail：
One), human motion decomposition model and inertia sensing technology
1) human motion decomposition model
The final goal of motion capture system is that the action for making human body is reduced in computing systems.Although people does
The action gone out is different, but the bone of each ordinary people is extremely similar, and human motion is all to need bone simultaneously
Motion, which coordinates, to be completed.Therefore, the motion that we can be by each Kinematic Decomposition of people into different bones.
As shown in figure 1, according to the motion of human body, human skeleton is divided into 17 subdivisions (18 joints by us
Point), then the motion can of human body resolves into 17 son actions.Simultaneously as the chi that each piece of bone of human body is specifically fixed
Very little and shape is constant, and 17 subdivisions can be respectively seen as rigid body by us.Motion capture system by measuring 17 respectively
The motion conditions of individual part, it is possible to which reduction obtains the overall motion conditions of people.
Because each subdivision is for rigid body, that is to say, that no matter deformation situation can be ignored and whether stress is appointed
2 points of distance anticipate all without change, so the motion conditions of our can measurement rigid body any points, so as to obtain it is whole just
The motion of the motion conditions of body, i.e. human body subdivision.
Inertia sensing technical movements catch system, are that inertia sensing technical notes performing artist is used when performing artist moves
The motion conditions of corresponding joint.
2) inertia sensing technology
Inertia sensing technology is applied to inertial navigation system earliest, by measuring the acceleration (inertia) of aircraft, and certainly
It is dynamic to carry out integral operation, obtain aircraft instantaneous velocity and instantaneous position data.Germany applies in V-2 rockets at first in nineteen forty-two
On, by development for many years, inertia sensing technology has reached its maturity, and particularly MEMS appearance allows device to be made very
It is small, this technology can be applied at more aspects.
Inertial measuring unit includes accelerometer and gyroscope, and 3 free degree gyroscopes are used for measuring 3 rotational motions, and 3
Individual accelerometer is used for measuring the acceleration of 3 translational motions；Computer goes out the speed of aircraft according to the signal of change measured
Degree and position data.However, inertia sensing technology uses a kind of reckoning mode, i.e., know that position a little is surveyed according to continuous from one
The angle and speed calculation obtained goes out the position of its subsequent point so as to continuously measure the current location of motion, and this causes inertia sensing skill
Art is very sensitive to the error of sensor and drift.
It is such in order to solve the problems, such as, using Multi-Sensor Data Fusion technology, as shown in Figure 2.Make full use of different sensings
Device data carry out analysis and synthesis, obtain the uniformity result to measurand, make system obtain more fully, more accurately count
According to eliminating the limitation and error of single sensor.
In our inertia sensing technical movements seizure system, magnetic field sensor is introduced, utilizes multi-sensor data
Integration technology obtains more accurate human body movement data.
Two), system architecture and hardware design, that is, it is based on the motion capture system of inertia sensing technology
1) system architecture and composition
" motion capture system based on inertia sensing technology " and composition as shown in Fig. 3 .1, it is most of that 2 can be divided into：
Main part, accessory.
Main part is " motion capture system based on inertia sensing technology " core component, and motion capture process
In required function carrier module, mainly include：17 inertia sensing nodes, main control computer, wireless transceivers.
Slave part completes the back work during some motion captures, such as：The charging of sensor node, sensor section
The fixation of point with performing artist etc..Slave part mainly includes：Sensor node charger, seizure exhibition suits and sensing section
The fixation bandage of point.
2) each part major function
Specifically, each part is described as follows in system：
Sensor node：Each inertia phenomena of the sensor node based on object of which movement, using gyroscope, accelerometer etc.
Sensor gathers kinematic parameter, and the processing such as the data to collecting are filtered, data fusion obtains the motion number of measurement point
According to (such as：Displacement, rotation etc.), exercise data is wirelessly finally sent to main control computer.According to the people above described
Body Kinematic Decomposition model, 17 sensor nodes measure the motion conditions of human body diverse location point respectively.
Wireless transceiver：Wireless transceiver is connected with main control computer, is responsible for receiving transmitted by all inertial sensor nodes
Data, and data are handed into main control computer and handled, wireless transceiver also is responsible for the control command for being sent master control simultaneously
It is sent to all/sensor node for specifying.
Main control computer：Main control computer can detect whether each sensor is in presence, and be responsible for entering all the sensors
Row clock Synchronization Control carries out interpolation processing to data, the time consistency that safety action is caught, obtains accurately acting number
According to.Meanwhile main control computer is counted the data transmitted by received inertial sensor node according to human motion decomposition model
Calculate and restore the action of human body, and shown by visual mode, while action data is passed to further
Application program, such as：Cartoon making, motion analysis.
Sensing node charger：Charged while being 17 sensor nodes.
Exhibition suits：The performance clothes customized according to human motion decomposition model, for convenience of the placement and fixation of node, clothes
On understand that terrestrial reference has remembered 17 sensor node positions of motion capture system.
Bandage：The fixed sensor node of auxiliary.
3) sensor node hardware design
Sensor node can be divided into 4 parts：Sensor assembly, data acquisition controller and auxiliary circuit, wireless receipts
Module, battery and charging circuit and interface are sent out, as shown in Figure 3 .2.
3 kinds of sensors mainly are included in sensor assembly, are respectively：3 axis accelerometers, 3 axle gyroscopes, 3 axle magnetometers.
In order to reduce the volume and weight of node, sensor generally use MEMS (MEMS, Micro-electro
Mechanical Systems) sensor.In PCB design, generally by 3 kinds of sensors should close proximity to and keep 3 kinds biography
Sensor is axially consistent (i.e. x-axis, y-axis, the direction of z-axis are consistent), the data measured with guarantee can similar to a particle,
Related operation is axially changed when reducing computing simultaneously.Therefore, integrated sensor IC can be selected during chip type selecting, such as：
It is integrated with InvenSense MPU-6050 of accelerometer and gyroscope, is integrated with accelerometer, gyroscope and magnetometer
InvenSense MPU-9150.In addition, should be by sensor as far as possible away from crystal oscillator, wireless module, day during PCB design
Line etc. there may be the part of influence on sensor.
Data acquisition controller is responsible for controlling sensor to carry out data acquisition, and the data to collecting are filtered, number
According to the processing such as fusion, the exercise data of node is finally obtained, and transfer data to radio receiving transmitting module.To ensure data acquisition
With the real-time of processing, data acquisition controller generally selects ARM the Cortex-M3 above model MCU or MPU, such as：ST
STM32F103TB.Auxiliary circuit then mainly include crystal oscillating circuit, the power-supplying circuit of each device, data acquisition controller with
The interface circuit of other each critical pieces such as sensor, radio receiving transmitting module.
Radio receiving transmitting module is responsible for the data transfer between sensing node and main control computer.Transmission can use different wireless
Communication means, such as：Wifi, bluetooth, Zigebee or other radio frequency wireless transmission technologies etc., are setting according to different protocol nodes
Corresponding wireless receiving and dispatching controller is selected in timing.To ensure transmission range and reducing the volume of sensing node as far as possible, set in node
Onboard miniature antenna is counted.
In addition, in order to reduce the volume and power consumption of sensor node as far as possible, can with the chip of cross-module selection integrated functionality,
Such as：The ST of 3 axis accelerometers, 3 axle gyroscopes, 3 axle magnetometers and ARM Cortex-M3 controllers is integrated with simultaneously
INEMO-M1, and for example：The ST32W series cores of ARM Cortex-M3 controllers and 802.15.4 wireless controllers are integrated with simultaneously
Piece.
4) wireless transceiver hardware design
Wireless transceiver is responsible for receiving 17 sensor nodes by the data of wireless transmission and carried by USB or Ethernet
Give main control computer；The data conversion that main control computer is sent by USB or Ethernet is sent to sensor section into wireless signal simultaneously
Point.It can be divided into from hardware point of view：Wireless control module, PA power amplifiers and omnidirectional are wireless, USB control modules and interface, with
Too net control module and interface, power supply circuit and power interface, as shown in Fig. 3 .3.
Power supply circuit and power interface：The work such as voltage conversion, voltage stabilizing, filtering, decoupling are carried out, are its in wireless transceiver
His module or chip is stable provide required for supply voltage or reference voltage.
USB control modules and interface/ethernet control module and interface：Wireless transceiver provides USB and Ethernet two
The mode kind be connected with main control computer realizes the physical layer of two kinds of interfaces and the control work of link layer for user's selection, and completion is led
Transmission between control machine application data and data conversion module.
Data conversion module：It is responsible for transmitting data between wireless control module and USB control modules/ethernet control module
Buffering and Data Format Transform.
Wireless control module：(with sensor node used in wireless communications method be consistent) complete physically wireless signal
With the conversion of wire signal, the data conversion that main control computer receives wireless signal that sensor sends, sent to is into wireless signal spoke
It is shot out.
PA power amplifiers and omnidirectional antenna：PA power amplifiers complete the power amplification of wireless control module output signal, together
When use omnidirectional antenna homogeneous radiation/reception wireless signal, it is big with coverage to expand gain.
Three), system operating mode and Software for Design, the i.e. motion capture method based on inertia sensing technology
From human motion and decomposition model, 17 sensor nodes need to carry out data acquisition at same time point
The action of human body can be reduced exactly.However, due to the technological problemses of electronic component itself, deposited between each crystal oscillator
In either large or small error, that is to say, that the clock speed of 17 sensor nodes is different.This just proposes a problem：Such as
What ensure be used for reduce human action exercise data be same point in time measurement (i.e.：The difference of time of measuring falls in allowed band
It is interior).
The invention provides " distributed compensation pattern " and " being uniformly controlled pattern " two kinds of different working modes for user not
With being selected under scene.
1) distributed compensation pattern
, it is necessary to know the total duration of gathered data under " distributed compensation pattern ", and 17 sensor nodes still according to
Each the clock of (crystal oscillator offer) carries out data acquisition and uploading operation.Main control computer is after data are obtained, according to gathered data
The data that total duration and the difference of each nodal clock (test data obtained after manufacture) upload to sensor enter row interpolation benefit
Processing is repaid, is mathematically derived by the exercise data of upper 17 nodes of same time point.
Under this kind of pattern, the flow of each node is as shown in Fig. 4 .1.
1. node is powered after startup, timer is initialized first
2. reading sensing data, timer data, calculate between the time that this sensor gathered data gathered away from last time
Every
3. a pair sensing data is filtered processing, the kinematic parameter and magnetic field parameter for filtering out burr to be stablized
4. 9 data obtained according to time interval to 3 sensor measurements carry out Data Fusion, office is respectively obtained
X-axis, y-axis, the displacement data in z-axis and the quaternary number under itself local coordinate or Eulerian angles under portion's coordinate
5. judge whether the time interval for reaching data upload：If reaching, the 2nd step is jumped to after uploading data；If do not reach
Arrive, jump directly to sampling and action deduction that the 2nd step continues inertial data
Under this kind of pattern, each node is acquired with respective clock, causes the respective sampling time to be differed
Cause, it is necessary to which main control computer mathematically carries out the data being calculated on same time point, idiographic flow such as Fig. 4 .2 institutes of main control computer
Show.
1. user inputs total collection duration
2. main control computer receives a data respectively from 17 sensing nodes
3. main control computer is according to Interpolation compensation algorithm, interpolation is recalculated to the data of 17 nodes and obtained on same time point
Exercise data
4. exercise data is sent to subsequent applications
5. judging whether to have reached total collection duration, the 2nd step is jumped to if not up to
Interpolation compensation algorithm is as follows：
Algorithm is divided into 2 processes：Parameter calculation procedure, Interpolation compensation process
Parameter calculation procedure is generally completed dispatching from the factory or completed before motion capture：
N is designated as respectively from being ranked up, number to fast order slowly by crystal oscillator to 17 sensing nodes1,N2,…,N17
Take N1Clock as reference clock, timing k minutes, obtain the counting of 17 sensing node clocks：T1.k(=
k),T2.k,T3.k,…,T17.k
Repeatedly measurement is averaged, and is obtained
Compensating parameter is calculated
For k=1,2 ..., 60 repeat above-mentioned 3 steps (typically lasting for uninterruptedly performing not over 60 points) respectively
Interpolation compensation process：
Still take N1Clock as reference clock (standard of calculating)
Data acquisition total duration is n points
For m-th of node Nm, l-th of the data collected are designated as Dm.l, it is converted into N1Reference clock is lFm.n, then
Time data be can be obtained by ＜ lFm.n,Dm.l〉
When receiving the 1st node N1L-th of data D1.lWhen, revised data are RD1.l=D1.l；For So that (x-1) Fm.n≤l<xFm.n, revised data are
〈RD1.l,RD2.l,…,RD17.l＞ is the exercise data after Interpolation compensation
2) it is uniformly controlled pattern
" being uniformly controlled pattern " as the term suggests be exactly use unified clock to be controlled --- system with main control computer when
Clock is standard time clock, is sent at the time of gathered data is needed and is broadcast to 17 sensor nodes, command sensor completes data
Collection and upload.Such a mode of operation without know data acquisition total duration in advance, but sensor node be gathered data,
Data fusion operates and calculated displacement and rotate and completed by master control machine, so causes to subtract for reducing the data of human action
It is few, influence final accuracy.
The flow of sensing node is as shown in Fig. 4 .3.Specifically, sensing node is divided at main program (Fig. 4 .3 (a)) and interruption
Manage program (Fig. 4 .3 (b)).Main program constantly circulation is gone to read the data of sensor and carries out filtering process, the order of main control computer
Then handled in the way of interruption.Once sensor receives order, then interrupt handling routine is transferred to, sends newest exercise data
To main control computer, main program is immediately returned to afterwards.
Main controlled node is responsible for unified timework, and sending control command to 17 sensing nodes as standard enters line number
According to collection, idiographic flow is as shown in Fig. 4 .4.
1. the global unified timer of activation system
2. mark time the time point waited when reaching data acquisition
3. the order of data acquisition is sent to 17 node broadcasts
4. receive the motion parameter data that 17 nodes upload
5. carrying out data fusion to the data of 17 nodes respectively according to time interval, respectively obtain under 17 groups of local coordinates
X-axis, y-axis, the displacement data in z-axis and quaternary number or Eulerian angles under 17 groups of itself local coordinates
6. exercise data is sent to subsequent applications
7. return continues executing with from the 2nd step.
Claims (1)
1. a kind of motion capture method based on inertia sensing technology, methods described is used to control 17 inertia sensing nodes same
Time point carries out data acquisition, to be reduced the action of human body exactly；Characterized in that, methods described is distributed compensation
Pattern, under distributed compensation pattern, it is known that the total duration of gathered data, 17 inertia sensing nodes are still according to respective clock
Carry out data acquisition and upload；Main control computer is after data are obtained, according to the total duration of gathered data and the difference of each nodal clock
Interpolation compensation processing is carried out to the data that sensor uploads, obtains the exercise data of upper 17 nodes of same time point；It is realized
Process is：
Step 1: each inertia sensing node data collection and upload：
Step 1 (1), node are powered after startup, initialize timer first；
Step 1 (2), read sensing data, timer data, calculate this sensor gathered data away from last time gather when
Between be spaced；
Step 1 (3), processing is filtered to sensing data, the kinematic parameter for filtering out burr to be stablized and magnetic field ginseng
Number；
Step 1 (4), 9 obtained according to time interval to three axis accelerometer, three-axis gyroscope and three axle magnetometer measurement
Data：X-axis is to acceleration, y-axis to acceleration, z-axis to acceleration, x-axis to magnetic field intensity, y-axis to magnetic field intensity, z-axis to magnetic
Field intensity, around x-axis rotational angular velocity, around y-axis rotational angular velocity, around z-axis rotational angular velocity Data Fusion is carried out, respectively
X-axis, y-axis, the displacement data in z-axis and the quaternary number under itself local coordinate or Eulerian angles under to local coordinate；
Step 1 (5), judge whether to reach the time interval that data upload：If reaching, step 1 is jumped to after uploading data
(2)；If not up to, jumping directly to, step 1 (2) continues the sampling of inertial data and action is inferred；
Step 2: to the position in x-axis under the local coordinate of the above-mentioned each node being acquired with respective clock, y-axis, z-axis
The quaternary number moved under data and itself local coordinate Eulerian angles carry out the data that are calculated on same time point, process is such as
Under：
The total collection duration of step 2 (1), input；
Step 2 (2), main control computer receive a data respectively from 17 sensing nodes；
Step 2 (3), main control computer recalculate interpolation according to Interpolation compensation algorithm, to the data of 17 nodes and obtain the same time
Exercise data on point；
Step 2 (4), exercise data is sent to subsequent applications；
Step 2 (5), judge whether to have reached total collection duration, the 2nd step is jumped to if not up to, until reaching total
Gather duration；
The process of the Interpolation compensation includes
A, parameter calculation procedure：Parameter calculation procedure is generally completed dispatching from the factory or completed before motion capture：
A1, N is designated as respectively from being ranked up, number to fast order slowly by crystal oscillator to 17 sensing nodes1,N2,…,N17；
A2, take N1Clock as reference clock, timing k minutes, obtain the counting of 17 sensing node clocks：T1.k(=k),
T2.k,T3.k,…,T17.k
A3, repeatedly measurement is averaged, and is obtained
A4, compensating parameter is calculated
A5, for k=1,2 ..., 60 respectively repeat steps A2 to step A4；
B, Interpolation compensation process：
B1, still take N1Clock as reference clock；
B2, data acquisition total duration are n points；
B3, for m-th of node Nm, l-th of the data collected are designated as Dm.l, it is converted into N1Reference clock is lFm.n, then just
Time data pair can be obtained<lFm.n,Dm.l>；
B4, when receiving the 1st node N1L-th of data D1.lWhen, revised data are RD1.l=D1.l；For So that (x-1) Fm.n≤ l ＜ xFm.n, revised data are：
B5、<RD1.l,RD2.l,…,RD17.l>For the exercise data after Interpolation compensation.
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