CN113229804A - Magnetic field data fusion circuit and method for joint mobility - Google Patents

Magnetic field data fusion circuit and method for joint mobility Download PDF

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CN113229804A
CN113229804A CN202110499548.5A CN202110499548A CN113229804A CN 113229804 A CN113229804 A CN 113229804A CN 202110499548 A CN202110499548 A CN 202110499548A CN 113229804 A CN113229804 A CN 113229804A
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高照
祝小波
寇晓洁
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Shaanxi Fuyin Prosthetic Co ltd
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Abstract

The invention discloses a magnetic field data fusion circuit for joint mobility, which comprises a voltage stabilizing circuit, a Bluetooth WIFI main control module U1, a low-speed high-precision magnetometer P3 and a high-speed low-precision magnetometer P4, wherein a power supply input end of the voltage stabilizing circuit is connected with an output end of an external power supply, and a power supply output end of the voltage stabilizing circuit is respectively connected with power supply input ends of the Bluetooth WIFI main control module, the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4. According to the magnetic field data fusion circuit and the method for joint mobility, joint mobility is measured simultaneously through the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4, data of the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 are fused through an algorithm, so that the purpose of high-speed and accurate magnetic data output is achieved, and the manufacturing cost of hardware is reduced through the fusion circuit and the algorithm on the premise of considering speed and accuracy.

Description

Magnetic field data fusion circuit and method for joint mobility
Technical Field
The invention relates to the technical field of joint mobility measurement, in particular to a magnetic field data fusion circuit and a magnetic field data fusion method for joint mobility.
Background
In the medical rehabilitation process, the activity posture of the injured joint of a human body is often measured by monitoring the joint activity, the magnetometer is a device capable of measuring the magnetic field change in a space, a method for obtaining posture data by fusing angular velocity, acceleration and magnetic data is often used in a posture fusion algorithm, but the precision and the acquisition rate of the existing magnetometer greatly influence the accuracy of the posture and further influence the measurement result of the joint activity, the low-speed high-precision magnetometer cannot meet the requirement of monitoring the activity posture of the human body in time due to the slow acquisition rate, the low acquisition precision of the high-speed low-precision magnetometer easily causes the inaccurate acquired data and is not beneficial to monitoring the joint state of a patient, the existing magnetometer ensures the accuracy while ensuring the acquisition rate, and the manufacturing cost of the magnetometer is very high, can not be popularized and used in a large area.
Aiming at the problems, innovative design is urgently needed on the basis of the magnetic field data fusion circuit of the original joint mobility and the method thereof.
Disclosure of Invention
The invention aims to provide a magnetic field data fusion circuit for joint mobility and a method thereof, which are used for solving the problem that the magnetic field data cannot be acquired at high precision and high speed at low cost in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a magnetic field data fusion circuit for joint activity degree, includes voltage stabilizing circuit, bluetooth WIFI main control module U1, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4, voltage stabilizing circuit's power input end links to each other with external power supply's output, voltage stabilizing circuit's power output end links to each other with bluetooth WIFI main control module, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4's power input end respectively.
Preferably, the voltage stabilizing circuit comprises a voltage stabilizing chip P1, a power input module P2 and an inductor L1.
Preferably, the power input module P2 is connected to a USB interface of an external power supply through a microUSB, pin 1 of the power input module P2 is connected to pin 1 of the voltage stabilization chip P1, pin 5 of the voltage stabilization chip P1 is connected to one end of an inductor L1, and the other end of the inductor L1 is connected to power input terminals of the bluetooth WIFI main control module, the low-speed high-precision magnetometer P3, and the high-speed low-precision magnetometer P4, respectively.
A magnetic field data fusion method for joint mobility is characterized by comprising the following specific steps:
step S1, reading the number of the collected data in the high-speed low-precision magnetometer P4 through the Bluetooth WIFI main control module U1;
step S2, the Bluetooth WIFI master control module U1 judges whether the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value capable of calculating the variance
Figure BDA0003053315770000021
The number of (2);
step S3, the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value that the variance can be calculated
Figure BDA0003053315770000022
The variance of the data of the magnetic force values collected by the high-speed low-precision magnetometer P4 is calculated when the number of the magnetometer is equal to or less than the predetermined value
Figure BDA0003053315770000023
Step S4, the number of the data collected in the high-speed low-precision magnetometer P4 does not reach the calculated variance
Figure BDA0003053315770000024
When the number of the low-speed high-precision magnetometers is larger than the number of the high-speed magnetometers, the Bluetooth WIFI main control module U1 judges whether the low-speed high-precision magnetometers P3 complete the first data reading;
step S5, the low-speed high-precision magnetometer P3 returns to the first step when the first data reading is not finished until the first data reading is finished by the low-speed high-precision magnetometer P3;
step S6, after the low-speed high-precision magnetometer P3 finishes reading data, the Bluetooth WIFI main control module U1 judges whether the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value capable of calculating the variance
Figure BDA0003053315770000025
The number of (2);
step S7, the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value that the variance can be calculated
Figure BDA0003053315770000031
The number of the magnetometer units is calculated according to the data collected by the low-speed high-precision magnetometer P3;
step S8 is when both the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 do not complete the calculation of the variance,
Figure BDA0003053315770000032
and
Figure BDA0003053315770000033
is 0 and is substituted into the formula calculation, and when one or both of the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 are completely calculated, the calculated values are added
Figure BDA0003053315770000034
And
Figure BDA0003053315770000035
calculation by substituting formula
Preferably, the calculation formula in step S8 is k × mqmc+(1-k)*mlsm303＝mclib。
Preferably, k in the calculation formula of step S8 is a weighted value, and the variance result calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 is the weighted value
Figure BDA0003053315770000036
And
Figure BDA0003053315770000037
at 0, k has a value of 0.
Preferably, the variance results calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4
Figure BDA0003053315770000038
And
Figure BDA0003053315770000039
when not 0, k is calculated as
Figure BDA00030533157700000310
Figure BDA00030533157700000311
Preferably, the magnetometer data on each axis collected by the high-speed low-precision magnetometer P4 is mqmcThe magnetometer data of each axis collected by the low-speed high-precision magnetometer P3 is mlsm303。
Compared with the prior art, the invention has the beneficial effects that: the magnetic field data fusion circuit for joint mobility and the method thereof are as follows:
the joint activity is measured by using the low-speed high-precision magnetometer P3 which is output at a low speed but has accurate data and the high-speed low-precision magnetometer P4 which is output at a high speed but has inaccurate data, the data of the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 are fused by an algorithm to realize high-speed and accurate magnetic data output, and the manufacturing cost of the magnetic field detection hardware of the joint activity is reduced by a fusion circuit and the algorithm on the premise of considering both the speed and the accuracy.
Drawings
FIG. 1 is a schematic diagram of the circuit structure of the present invention;
fig. 2 is a schematic circuit diagram of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a magnetic field data fusion circuit for joint activity degree, including voltage stabilizing circuit, bluetooth WIFI main control module U1, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4, voltage stabilizing circuit's power input end links to each other with external power supply's output, voltage stabilizing circuit's power output end links to each other with bluetooth WIFI main control module, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4's power input end respectively.
The voltage stabilizing circuit comprises a voltage stabilizing chip P1, a power input module P2 and an inductor L1, wherein the model of the voltage stabilizing chip P1 is TLV7113333D, the interface of the power input module P2, which is connected with an external power supply, is a microUSB interface, and the output voltage of the power input module P2 is 3.3V.
Power input module P2 is connected with external power supply's USB interface through microUSB, power input module P2's 1 foot is connected with voltage stabilization chip P1's 1 foot, voltage stabilization chip P1's 5 feet is connected with inductance L1's one end, inductance L1's the other end respectively with bluetooth WIFI main control module, low-speed high accuracy magnetometer P3, high-speed low accuracy magnetometer P4's power input end is connected voltage stabilizing circuit and is used for giving bluetooth WIFI main control module U1, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4 stable power supply, WIFI bluetooth main control module passes through I USB2The C bus and the low-speed high-precision magnetometer P3 are communicated with the high-speed low-precision magnetometer P4 to acquire and acquire magnetic data and then are fused, the Bluetooth WIFI main control module is ESP32, the low-speed high-precision magnetometer P3 is LSM303DLH, the high-speed low-precision magnetometer P4 is QMC58 5883L, the acquisition rate of the high-speed low-precision magnetometer P4 is 200HZ, and the highest sampling rate of the low-speed high-precision magnetometer P3 is 75 HZ.
A magnetic field data fusion method for joint mobility is characterized by comprising the following specific steps:
step S1, reading the number of the collected data in the high-speed low-precision magnetometer P4 through the Bluetooth WIFI main control module U1;
step S2, the Bluetooth WIFI master control module U1 judges whether the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value capable of calculating the variance
Figure BDA0003053315770000051
The number of (2);
step S3, the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value that the variance can be calculated
Figure BDA0003053315770000052
The variance of the data of the magnetic force values collected by the high-speed low-precision magnetometer P4 is calculated when the number of the magnetometer is equal to or less than the predetermined value
Figure BDA0003053315770000053
Step S4, the number of the data collected in the high-speed low-precision magnetometer P4 does not reach the calculated variance
Figure BDA0003053315770000054
When the number of the low-speed high-precision magnetometers is larger than the number of the high-speed magnetometers, the Bluetooth WIFI main control module U1 judges whether the low-speed high-precision magnetometers P3 complete the first data reading;
step S5, the low-speed high-precision magnetometer P3 returns to the first step when the first data reading is not finished until the first data reading is finished by the low-speed high-precision magnetometer P3;
step S6, after the low-speed high-precision magnetometer P3 finishes reading data, the Bluetooth WIFI main control module U1 judges whether the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value capable of calculating the variance
Figure BDA0003053315770000055
The number of (2);
step S7, the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value that the variance can be calculated
Figure BDA0003053315770000056
The number of the magnetometer units is calculated according to the data collected by the low-speed high-precision magnetometer P3;
step S8 is when both the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 do not complete the calculation of the variance,
Figure BDA0003053315770000061
and
Figure BDA0003053315770000062
is 0 and is substituted into the formula calculation, and when one or both of the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 are completely calculated, the calculated values are added
Figure BDA0003053315770000063
And
Figure BDA0003053315770000064
and substituting the formula for calculation.
The calculation formula in step S8 is k × mqmc+(1-k)*mlsm303＝mclib。
K in the calculation formula of step S8 is a weighted value, and the variance results calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4
Figure BDA0003053315770000065
And
Figure BDA0003053315770000066
at 0, k has a value of 0.
The variance results calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4
Figure BDA0003053315770000067
And
Figure BDA0003053315770000068
when not 0, k is calculated as
Figure BDA0003053315770000069
The data of each axis magnetometer collected by the high-speed low-precision magnetometer P4 is mqmcThe magnetometer data of each axis collected by the low-speed high-precision magnetometer P3 is mlsm303。
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. The utility model provides a magnetic field data fusion circuit for joint activity degree, includes voltage stabilizing circuit, bluetooth WIFI main control module U1, low-speed high accuracy magnetometer P3 and high-speed low accuracy magnetometer P4, its characterized in that: the power input end of the voltage stabilizing circuit is connected with the output end of an external power supply, and the power output end of the voltage stabilizing circuit is respectively connected with the power input ends of the Bluetooth WIFI main control module, the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4.
2. A magnetic field data fusion circuit for joint mobility according to claim 1, wherein: the voltage stabilizing circuit comprises a voltage stabilizing chip P1, a power input module P2 and an inductor L1.
3. A magnetic field data fusion circuit for joint mobility according to claim 2, wherein: the power input module P2 is connected with the USB interface of external power supply through micro USB, power input module P2's 1 foot is connected with voltage stabilizing chip P1's 1 foot, voltage stabilizing chip P1's 5 feet are connected with inductance L1's one end, inductance L1's the other end is connected with bluetooth WIFI host system, low-speed high accuracy magnetometer P3, high-speed low accuracy magnetometer P4's power input end respectively.
4. A magnetic field data fusion method for joint mobility is characterized by comprising the following specific steps:
step S1, reading the number of the collected data in the high-speed low-precision magnetometer P4 through the Bluetooth WIFI main control module U1;
step S2, the Bluetooth WIFI master control module U1 judges whether the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value capable of calculating the variance
Figure FDA0003053315760000011
The number of (2);
step S3, the number of the data collected in the high-speed low-precision magnetometer P4 reaches the value that the variance can be calculated
Figure FDA0003053315760000012
The variance of the data of the magnetic force values collected by the high-speed low-precision magnetometer P4 is calculated when the number of the magnetometer is equal to or less than the predetermined value
Figure FDA0003053315760000013
Step S4, the number of the data collected in the high-speed low-precision magnetometer P4 does not reach the calculated variance
Figure FDA0003053315760000014
When the number of the low-speed high-precision magnetometers is larger than the number of the high-speed magnetometers, the Bluetooth WIFI main control module U1 judges whether the low-speed high-precision magnetometers P3 complete the first data reading;
step S5, the low-speed high-precision magnetometer P3 returns to the first step when the first data reading is not finished until the first data reading is finished by the low-speed high-precision magnetometer P3;
step S6, after the low-speed high-precision magnetometer P3 finishes reading data, the Bluetooth WIFI main control module U1 judges whether the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value capable of calculating the variance
Figure FDA0003053315760000021
The number of (2);
step S7, the number of the data collected by the low-speed high-precision magnetometer P3 reaches the value that the variance can be calculated
Figure FDA0003053315760000022
The number of the magnetometer units is calculated according to the data collected by the low-speed high-precision magnetometer P3;
step S8 is when both the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 do not complete the calculation of the variance,
Figure FDA0003053315760000023
and
Figure FDA0003053315760000024
is 0 and is substituted into the formula calculation, and when one or both of the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4 are completely calculated, the calculated values are added
Figure FDA0003053315760000025
And
Figure FDA0003053315760000026
and substituting the formula for calculation.
5. A magnetic field data fusion method for joint mobility according to claim 4, characterized by: the calculation formula in step S8 is k × mqmc+(1-k)*mlsm303＝mClib。
6. A magnetic field data fusion method for joint mobility according to claim 4, characterized by: k in the calculation formula of the step S8 is a weighted value, and the variance results calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4
Figure FDA0003053315760000027
And
Figure FDA0003053315760000028
at 0, k has a value of 0.
7. A magnetic field data fusion method for joint mobility according to claim 4, characterized by: the variance results calculated by the low-speed high-precision magnetometer P3 and the high-speed low-precision magnetometer P4
Figure FDA0003053315760000029
And
Figure FDA00030533157600000210
when not 0, k is calculated as
Figure FDA00030533157600000211
Figure FDA0003053315760000031
8. A magnetic field data fusion method for joint mobility according to claim 4, characterized by: the data of each axis magnetometer collected by the high-speed low-precision magnetometer P4 is mqmcThe magnetometer data of each axis collected by the low-speed high-precision magnetometer P3 is mlsm303。
CN202110499548.5A 2021-05-07 2021-05-07 Magnetic field data fusion circuit and method for joint mobility Withdrawn CN113229804A (en)

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CN106989773A (en) * 2017-04-07 2017-07-28 浙江大学 A kind of attitude transducer and posture renewal method
CN206463441U (en) * 2017-02-20 2017-09-05 广东威尔实业有限公司 A kind of knee joint recovery auxiliary equipment
CN206670644U (en) * 2017-05-03 2017-11-24 厦门大学 A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions
WO2017215024A1 (en) * 2016-06-16 2017-12-21 东南大学 Pedestrian navigation device and method based on novel multi-sensor fusion technology
CN109001787A (en) * 2018-05-25 2018-12-14 北京大学深圳研究生院 A kind of method and its merge sensor of solving of attitude and positioning
US20200286245A1 (en) * 2019-03-07 2020-09-10 Beijing Boe Optoelectronics Technology Co., Ltd. Posture estimation method, posture estimation apparatus and computer readable storage medium
CN212539197U (en) * 2020-08-18 2021-02-12 四川国工航空科技有限公司 IMU attitude acquisition and processing system for tandem double-paddle unmanned aerial vehicle
US20210087787A1 (en) * 2019-09-25 2021-03-25 Japan Aviation Electronics Industry, Limited Measuring apparatus

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140257143A1 (en) * 2013-03-08 2014-09-11 The Regents of the University of California Corporation, A California Corporation Systems And Methods For Monitoring Hand And Wrist Movement
WO2017215024A1 (en) * 2016-06-16 2017-12-21 东南大学 Pedestrian navigation device and method based on novel multi-sensor fusion technology
CN206463441U (en) * 2017-02-20 2017-09-05 广东威尔实业有限公司 A kind of knee joint recovery auxiliary equipment
CN106989773A (en) * 2017-04-07 2017-07-28 浙江大学 A kind of attitude transducer and posture renewal method
CN206670644U (en) * 2017-05-03 2017-11-24 厦门大学 A kind of navigation attitude detecting system of more algorithm Multi-sensor Fusions
CN109001787A (en) * 2018-05-25 2018-12-14 北京大学深圳研究生院 A kind of method and its merge sensor of solving of attitude and positioning
US20200286245A1 (en) * 2019-03-07 2020-09-10 Beijing Boe Optoelectronics Technology Co., Ltd. Posture estimation method, posture estimation apparatus and computer readable storage medium
US20210087787A1 (en) * 2019-09-25 2021-03-25 Japan Aviation Electronics Industry, Limited Measuring apparatus
CN212539197U (en) * 2020-08-18 2021-02-12 四川国工航空科技有限公司 IMU attitude acquisition and processing system for tandem double-paddle unmanned aerial vehicle

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Application publication date: 20210730