Research On Attitude Capture System Based On MEMS Inertial Sensor

In recent years,motion capture system has been widely used in many fields.Compared with other motion capture equipment,the motion capture system based on inertial measurement has the advantages of low cost,convenient use,strong stability.This paper designs a kind of human motion capture system with low cost and good real-time performance.The main work of this paper is as follows:1.analyzed the specific requirements of the human motion capture system,and gives the overall design framework of the system according to the requirements,also completes the hardware selection.2.Analyzed the error source of the sensor and establishes the mathematical model of the sensor.Then the sensor is calibrated by an experiment which is designed through the model.The performance of the three algorithms is compared by a simulation experiments.3.A simplified human body model is established by analyzing human body mechanics and human kinematics.This paper also designs an initial calibration scheme of inertial sensor.Based on forward kinematics,I propose a chain control method of human body.4.Designed the software structure of the system and wrote the program,and did experiments to verify the performance of the system.Experimental results show that the accuracy of the system is 2 degrees,and the delay of the system is 0.7s.The system meets the requirements of use.