Analysis Of Motion State Based On Multi Degree Of Freedom Sensor

With the development of technology,various intelligent products,such as aircraft,land vehicles,intelligent submarines,health monitoring equipment in medical diagnostics etc,have been bringing the revolution of our daily life.All these smart devices have a same feature during the processes of completing their own tasks in the mode of uptime: it’s necessary to do the real-time detection of the carrier’s athletic stance to master its movement state.Currently,there are many kinds of sensors detecting object athletic stance,in addition to the complicated algorithm sand specialized hardware configuration requirements while obtaining the solution of their athletic stance.Thus,a high accuracy,low hardware requirements and low complexity device detecting and analyzing object athletic stance will be promising and meaningful.This thesis describe a new athletic stance detecting device based on MPU6050 and STM32F103 by analyzing the current sensors with pros and cons,in which it has a further study of key problems during the analyzing procedures of athletic stance and the certainty of movement state.The final solution is that based on the detecting result of gyroscope,in addition to the acquired detection data of the accelerometer to compensate and correct the detection stance of the gyroscope.The optimization with three aspects will be presented in this thesis:(1)Add the procedure of limiting filtering algorithm processing to make sure the smoothly processing of initial data due to the greatly fluctuates of the data during the pre-processing of data.(2)Analyze the three normal solutions of athletic stance and reach the goals of small amount of calculation and intuitively express the movement state of the object,using quaternions and Euler angle conversion during the part of athletic stance solution.(3)Abandon the commonly used complex fusion algorithm and Kalman filtering algorithm and select a quaternion-based complementary filtering algorithm in this thesis study,which can satisfy the requirement of low complexity procedure during data processing in the data fusion phase.Finally,the real-time display of athletic stance data through PC serial port software will be realized.It is also necessary to verify the above design concepts using data analysis.The results show that it is reasonable and feasible for the solution method of athletic stance and the optimized algorithm based on sliding smoothing and complementary filtering,which will provide the powerful reference for the later stage monitoring and controlling of movement state of space objects.