基于Mahony算法的游泳运动姿态测量快速对准算法  

Fast Alignment Algorithm for Swimming Posture Measurement Based on Mahony Algorithm

作　　者：于向怀 向政[1] 孟祥涛[1] YU Xiang-huai;XIANG Zheng;MENG Xiang-tao(Beijing Aerospace Times Optical-electronic Technology Co.,Ltd,Beijing 100094)

机构地区：[1]北京航天时代光电科技有限公司,北京100094

出　　处：《导航与控制》2021年第3期17-25,共9页Navigation and Control

基　　金：国家体育总局备战东京奥运会专项经费项目“游泳运动智能测量与数字训练系统”。

摘　　要：在游泳运动姿态测量中,由于水对各种信号的吸收以及折射问题,依赖外部信息的传感器不能准确提供信息,而惯性技术由于不依赖外部信息,适合应用于游泳运动姿态测量领域。惯性姿态测量需要初始对准技术提供初值,从而计算得到游泳运动过程中的姿态。而游泳运动员起跳时间不确定,传统的初始对准算法需要较长时间才能得到一个较高精度的结果。针对这一问题,提出了采用Mahony算法进行快速对准的方法,使用MEMS九轴惯性测量单元进行信息采集,通过角速度信息计算姿态角,加速度信息修正水平姿态角,磁场强度信息修正偏航角,使用互补滤波方法对多源信息进行融合,从而快速得到惯性姿态测量的初值。实验室实验验证了姿态角水平精度可以在3s内达到角分级别,满足了游泳运动的需求,在实际运动场景下的测试也验证了算法的可行性。In swimming posture measurement, due to the absorption and refraction of various signals by water, sensors relying on external information can not provide accurate information. Inertial technology is suitable for swimming posture measurement because it does not rely on external information. Inertial attitude measurement needs the initial value provided by the initial alignment technology to calculate the attitude in the process of swimming. However, the take-off time of swimmers is uncertain, and the traditional initial alignment algorithm takes a long time to get a high-precision result. In order to solve this problem, a fast alignment method based on Mahony algorithm is proposed, which uses MEMS nine-axis inertial measurement unit to collect information. The attitude angle is calculated through angular velocity information, the horizontal attitude angle is corrected by acceleration information, and the yaw angle is corrected by magnetic field strength information. The multi-source information is fused by complementary filtering method, so as to quickly obtain the initial value of inertial attitude measurement. Laboratory experiments show that the horizontal accuracy of attitude angle can reach the minute of arc level within 3 s, which meets the requirements of swimming. The feasibility of the algorithm is verified by the test in the actual motion scene.

关 键 词：游泳运动 初始对准 Mahony互补滤波 九轴惯性测量单元 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]