摘要
针对高精度行人室内自主导航与定位的应用需求,设计了集成Arduino和Xsens Awinda惯性测量套件的可穿戴式人体运动测量设备原型。该系统穿戴方便,可靠性高,实现了双足IMU信息与足间距离的同步测量,支持数据的无线传输、远程保存与分析。足间距离通过改造的双SRF10超声波测距模块进行连续采集,并结合双足惯性测量数据使用零速检测算法得到步行步态规律,有助于提高行人惯性导航定位精度。
In order to meet the application requirements of high-precision pedestrian autonomous navigation and indoor positioning,a prototype of wearable human motion measurement system integrating Arduino and Xsens Awinda inertial measurement kit is de-signed. The device is convenient to wear and highly reliable which is capable of simultaneous measurement of feet inertial informa-tion and the feet range. The function of wireless data transmission, remote storage and analysis is also supported. The gait pattern is obtained by zero-velocity detection algorithm using the inertial data, the feet range information is continuously measured by mod-ified SRF10 ultrasonic range finder, which is supposed to improve the accuracy of inertial navigation and positioning.
作者
周路旸
胡一恭
武元新
Zhou Luyang;Hu Yigong;Wu Yuanxin(School of Aeronautics and Astronautics,Central South University,Changsha 410083,China;School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Key Lab of Navigation and Location Services,Shanghai 200240,China)
出处
《电子技术应用》
2018年第7期89-93,共5页
Application of Electronic Technique
基金
国家自然科学基金(61422311
61673263)
关键词
惯性测量单元
室内定位
可穿戴设备
超声波测距
足距
inertial measurement unit
indoor positioning
wearable device
ultrasonic ranging
foot range
