Research Of Inertial Gait Measurement System

In this paper, an Inertial Gait Measurement System based on Micro Inertia Measurement Unit (MIMU) and DSP is designed for gait analysis. The purpose is to provide an analytical tool and kinematic parameters for clinical research.This subject stems from the internship in ESIGELEC of France. A technique for the measurement of human body movements utilizing accelerometer and gyroscope, with data acquisition based on the embedded microprocessor DSP and CPLD peripheral interface. The research on the Kalman Filter algorithm for error compensation is presented. The main content of the research are as the followings:In this paper, the measure theory of Inertia instrument is discussed firstly. The system is designed using a series of accelerometer and gyroscope in the technology of Micro electro-mechanical System have the advantage of fine dynamic characteristics, which can improve response of measurement system. This advantage makes this system superior to those traditional transducer measurement systems and the data is more accurate than ever.Secondly, it presents the total framework and the composing. The hardware of this system includes transducer module, data acquisition module, data processing module, interface modules and transceiver modules to PC.Because of the random drift of inertia instrument can accumulate by integrating on time, we design a Kalman Filter to realize the error compensation, which restrains the integrating drift on time and advances the accuracy of result.The entire program is designed with modularization ideas in C language and Assembly language. It mainly discusses the data acquisition and pretreatment, including several interface software and operation program. The system combines the interrupt service and inquire mode to arrange the tasks of every function modules. Lastly, it presents some results of trial.The results indicate that this measure system has high precision, well stability, small volume, real time measurement and popular prospect.