现代电子技术2012，Vol.35Issue(20)：101-104,4.
在人体运动测量中应用四元数扩展卡尔曼滤波
Application of quaternion extended kalman filtering in human sport measurement
摘要
Abstract
A quaternion extended Kalman filtering algorithm suitable for multiple motion sensor orientation detection system is proposed. The orientation system adapts to the research of human motion. The hardware is based on iNEMO sensors fusion suite, which integrated 3-axis gyroscope > triaxial accelerometer and magnetometer. In the procedure of extended Kalman filter, the values of angle will approach the true value gradually through modifying angle of gyroscope by the measuring noise of accelerometer and magnetometer, at the same time, the design of covariance matrix on measuring noise can help the orientation system distinguish the static and movement state. With the test of movement of flexion and extension of forearm, this algorithm was verified effective. With the merits of small size, multi-function and low loss, the motion sensors based on MEMS are proved to have a favorable future in the field of human motion measurement.关键词
四元数/卡尔曼滤波/运动传感器/人体运动/iNEMOKey words
quarternions Kalman filtering/motion sensor/human body motion/iNENO分类
信息技术与安全科学引用本文复制引用
高杉,叶强,戴建松..在人体运动测量中应用四元数扩展卡尔曼滤波[J].现代电子技术,2012,35(20):101-104,4.基金项目
国家科技支撑计划(2009BAK62B01) （2009BAK62B01）
