网络化人体运动跟踪系统研究  

Study of human motion tracking system based on wireless sensor network

作　　者：陈鹏展[1] 李杰[1] 罗漫[1] 

机构地区：[1]华东交通大学电气与电子工程学院,南昌330013

出　　处：《计算机应用》2015年第8期2316-2320,2340,共6页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61164011);江西省自然科学基金资助项目(20114BAB201023);江西省研究生创新专项资金资助项目(YC2014-X006);江西省博士后科研择优资助项目

摘　　要：针对目前基于惯性传感的动作捕捉系统存在的姿态漂移、实时性不强和价格较高的问题,设计了一种低功耗、低成本,能够有效克服姿态数据漂移的人体实时动作捕捉系统。首先通过人体运动学原理,构建分布式关节运动捕捉节点,各捕捉节点采用低功耗模式,当节点采集数据低于预定阈值时,自动进入休眠模式,降低系统功耗;结合惯性导航和Kalman滤波算法对人体运动姿态进行实时的解算,以降低传统的算法存在的数据漂移问题;基于Wi-Fi模块,采用TCP-IP协议对姿态数据进行转发,实现对模型的实时驱动。选取多轴电机测试平台对算法的精度进行了评估,并对比了系统对真实人体的跟踪效果。实验结果表明,改进算法与传统的互补滤波算法相比具有更高的精度,基本能将角度漂移控制在1°以内;且算法的时延相对于互补滤波没有明显的滞后,基本能够实现对人体运动的准确跟踪。To solve the attitude drift, low real-time ability and high price problem in motion capture system based on inertial sensors, a kind of real-time motion capture system was designed to effectively overcome the attitude drift with low cost and power consumption. At first, a distributed joint motion capture node was built based on the human body kinematics principle, and every node worked in low-power mode, when the acquisition data from the node was lower than a predetermined threshold, the node would automatically enter into the sleep mode to reduce the power consumption of the system. In order to reduce the data drift in traditional algorithm, a kind of algorithm combined with inertial navigation and Kalman filter algorithm was designed to calculate the real-time motion data. Using the Wi-Fi module, the TCP-IP protocol was adopted to transmit the attitude data, which could drive the model in real time. At last, the accuracy of the algorithm was evaluated on the multi-axis motor test platform, and the effect of the system for tracking real human motion was compared. The experimental results show that the algorithm has higher accuracy by contrast with the traditional complementary filtering algorithm, which can control the angle drift in less than one degree; and the delay has no obvious lag by contrast with the complementary filter, which can realize the accurate tracking of human motion.

关 键 词：动作捕捉 人体运动学 惯性导航 低功耗 互补滤波 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]