Research On Motion Path Reconstruction System Based On Micro Inertial Measurement Unit

With the enrichment of modern life scenes,the constantly developing intelligent devices have created new means of interaction between people and different scenes.New human-machine interaction supported by technology has built a bridge for the interaction process.Human-machine interaction requires to detect the motion of the target,which accurately projects the actual motion into the digital space.Motion behavior can be detected by laser tracking and computer vision positioning.These methods have the advantages of high measurement accuracy and good real-time performance,but their complexity and high cost limit their application scope so that they mostly used for specific detection scenarios.The Micro Inertial Measurement Unit(MIMU)can be detected by moving with the target.MIMU detects position by collecting and calculating the motion data.This method has the advantages of portability,low cost and wide application range,and is more suitable for large-scale civil and commercial use.According to the demand and considering the characteristics of autonomous navigation,continuous positioning and stability of the MIMU,this dissertation studies a motion path reconstruction system,which provides more choices for the developing modern interactive mode.In this system,MIMU is used to collect the motion characteristics of the moving target,including acceleration,angular velocity and other data,then transmit it to computer for storage.We also designed a calibration algorithm for the possible data transmission problems in the communication process.In order to improve the detection accuracy,we analyzed the error sources in the detection process and established the error model.Kalman filter algorithm is used to eliminate the random error of the sensor,and polynomial compensation algorithm based on dynamic theory is designed to reduce the influence of accumulation error on the data calculation.By using angular velocity,the data conversion in different coordinate systems can be realized to eliminate the influence of rotation on the motion path detection.We design a position reconstruction algorithm based on numerical integral theory.The motion in unit time is obtained by double integration of the acceleration data after the error is eliminated.At a high sampling frequency,the motion information of each moment is updated and projected into the coordinate system.Finally,we obtained the moving path of the target.Computer will be used to process and calculate data.We use Python programs to design reasonable schemes to verify the experimental objectives.The experimental results show that the motion path reconstruction system based on MIMU proposed in this dissertation can realize the motion detection of moving target with well display in motion trajectory and the effectiveness of this method proposed in this dissertation is verified.