基于多传感器信息融合的人体姿态解算算法

山东大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (5): 49-54.

基于多传感器信息融合的人体姿态解算算法

李景辉,杨立才*

山东大学控制科学与工程学院,山东济南 250061

收稿日期:2013-05-14 出版日期:2013-10-20 发布日期:2013-05-14
通讯作者: 杨立才(1962- ),男,山东莘县人,教授,博士,博士生导师,主要研究方向为生物医学信号的检测与处理,人工智能与智能控制等. E-mail: yanglc@sdu.edu.cn
作者简介:李景辉(1989- ),男,山东潍坊人,硕士研究生,主要研究方向为生物医学信号检测分析. Email:lijinghui2050@163.com

An attitude estimation algorithm for human body based on
multi-sensor information fusion

LI Jing-hui, YANG Li-cai*

School of Control Science and Engineering, Shandong University, Jinan 250061, China

Received:2013-05-14 Online:2013-10-20 Published:2013-05-14

摘要/Abstract

摘要：

针对传统人体姿态解算算法中存在的稳定性差和解算精度低等问题,提出一种基于多传感器信息融合的姿态解算算法。利用四元数计算人体的姿态变化,将惯性测量模块的姿态测量值与观测值之间的偏差通过PI调节进行控制;采用互补滤波对多传感器数据进行融合,求取人体实时姿态。实验表明,该算法能够实现稳定地输出高精度姿态数据。

关键词: 姿态解算, 多传感器信息融合, 四元数, 互补滤波, PI调节

Abstract:

Aiming at the problems of poor stability and short precision in traditional attitude estimation algorithms, a method based on multi-sensor information fusion was proposed. The quaternion was used to calculate the attitude changes, and deviations between measurements and observations from the Inertial Measurement Unit(IMU) were managed by PI regulator. The complementary filtering was adopted for multi-sensor information fusion, and the realtime attitude was got. Experimental results showed that the algorithm could output the high precision attitude steadily.

Key words: attitude estimation, multi-sensor information fusion, quaternion, complementary filtering, PI regulation

中图分类号:

TP212

李景辉,杨立才*. 基于多传感器信息融合的人体姿态解算算法[J]. 山东大学学报(工学版), 2013, 43(5): 49-54.

LI Jing-hui, YANG Li-cai*. An attitude estimation algorithm for human body based on
multi-sensor information fusion[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2013, 43(5): 49-54.

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