基于可穿戴式惯性传感器的人体运动跟踪方法综述  

A Review on Wearable Inertial Sensor Based Human Motion Tracking

作　　者：张鋆豪 何百岳 杨旭升[1] 张文安[1] ZHANG Jun-Hao;HE Bai-Yue;YANG Xu-Sheng;ZHANG Wen-An(College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院

出　　处：《自动化学报》2019年第8期1439-1454,共16页Acta Automatica Sinica

基　　金：国家重点研究发展计划(2016YFF0104004);国家自然科学基金(61822311)资助~~

摘　　要：基于可穿戴式惯性传感器(Inertial sensor unit,IMU)的人体运动跟踪技术具有佩戴方便、运动空间不受限和成本低等优点,已广泛应用于医疗康复、体育竞技、人机交互和虚拟现实等领域.本文对惯性式人体运动跟踪技术的发展历史、研究现状以及典型方法进行了较为全面的梳理和总结,主要包括人体运动学模型和生物学约束,传感器初始对准方法,传感器种类,传感器误差处理以及数据融合方法,并概述相关方法应用于实际的现状.最后,总结了该领域待解决的难点问题,并对未来的发展趋势进行了展望.Human motion tracking based on wearable inertial sensors has the advantages of convenient wearing, unrestricted motion space and low cost. It has found wide applications in medical treatment, sports, human-machine interaction, virtual reality and other fields. A detail overview of the history, the state of the art, and typical methods are given in this paper. Special attention is paid to the following areas: human kinematics models and biological constraints, sensor-to-segment calibration, sensor technology, sensor interference handling, information fusion methods,and the relevant applications. Finally, the outstanding issues are summarized, and the future trends of this field are discussed.

关 键 词：人体运动跟踪 可穿戴式惯性传感器 运动学 数据融合 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]