人体步态分析的多传感器数据融合研究控制理论与控制工程专业论文.docxVIP

大连理工大学博士学位论文Multi—sensor 大连理工大学博士学位论文 Multi—sensor Data Fusion for Human Gait Analysis Abstract Human walking contains important physiology，kinematic and dynamic information．There are many application prospect ofhuman gait analysis in real life，such as monitoring the patient’S recovery progress in clinical practice，the control strategy ofbionic robot，etc．This thesis estab· lished a wearable gait analysis platform based on MEMS sensor and body sensor network．The platform Can be used to collect acceleration，angular veloci锣and the geomagnetic signals in the process of walking movement．Accurate gait parameters Call be calculated through sensor data fusion algorithm and error correction process．This paper is composed on the basis of surlllna- rizing the existing research content at home and abroad，focusing on the following issues：how to reduce the orientation estimation error and increase the accuracy of gait phases partition；how to analyze the symmetry between dual feet and the gait stability；how to eliminate the sensor misalignment and binding position deviation among multiple sensors；And the applicability of the widely used velocity update algorithm in the field of gait analysis．The main research contents are as follows： 1．This research adopted micro·electro—mechanical sensor and human body sensor network． a wearable gait analysis platform was designed and developed．A lot ofwork has been conduced on the sensor sensitivity calibration，bulb error elimination，etc．As for the influence of sensor position on gait analysis，which has always been ignored by many researchers,this paper pro— posed a sensor alignment method based on“boresighting”，which Can effectively eliminate the initial binding error,and it Can be used for initial alignment of multiple sensors aS well． 2．This thesis focused on multi-sensor data fusion algorithms，including extended Kalman filter algorithm(EKF)which was used to fuse different types of sensor data，and zero veloci— ty update(ZUPT)algorithm used fo