Research On Real-time Human Body Tracking And Wearable Device Based On IMU

Motion capture technology uses some methods to digitize posture information in human motion and convert it into physical quantities in motion analysis.The technology is widely used in film and television games,rehabilitation,physical training and robots.This subject is researched on motion capture systems,designs a wearable real-time tracking device of human body posture based on inertial sensing units,and discusses the estimation and reproduction algorithms of posture.The human body posture tracking device developed in this manuscript adopts a hybrid topology of star and bus.It consists of multiple sensor units and a data sink unit.The sensor unit is worn in various key parts of the human body,and is responsible for posture tracking and digitization of these joints.The data sink unit is the core controller of the entire device.It uses the RS485 three-bus parallel transmission method to obtain the motion data of each sensor unit and wirelessly sends it to the PC terminal via WIFI.At the same time,the system uses a TDMA communication scheduling strategy to control the orderliness and synchronization of data collection throughout the system.In this manuscript,a general software interface for the system is designed,and the data is imported into the application layer program for posture analysis and reproduction.According to the characteristics of the inertial sensor,error compensation is performed,and the posture fusion algorithm based on complementary filtering is optimized.The top-down analysis method of human kinematics is used to reproduce the pose on the virtual human model.After testing,under the data updating rate of 60 Hz and 120 Hz,the system can support 20 sensor units,and the system delay is 10 ms.At 180 Hz,it can support 15 sensor units,and the delay is 7ms.The wearable device has passed the functional verification,and can be practically applied to capture the posture of a human body.