一种基于IMU的人体运动轨迹测量算法

n IMU-based method for measuring human motion trajectory is designed in this paper. The adaptive maximum descent algorithm adopts the data from IMU-based sensor to get the rotation relationship of the IMU carrier coordinate system to the northeast coordinate system which is expressed by quaternion. IMU is bound on the lower limbs to obtain the entire lower limb posture when the human walk. The human lower limb is abstracted into the linkage and the supporting leg is assumed to be stationary. According to this assumption, we acquire the coordinates of swinging feet and the moving trajectory. On the other hand, the integral trajectory is obtained by integrating acceleration sensor of the IMU bound on the swinging feet. The final trajectory is obtained by trajectory fusion of the two methods. Experiments show that this method can obtain the trajectory of the human body effectively, and the error is smaller than only using one method.