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毕业论文.pdfVIP

大连理工大学博士学位论文 Multi—sensorData Fusion forHuman Gait Analysis Abstract Humanwalking contains importantphysiology，kinematic and dynamic information．There aremany applicationprospect ofhumangaitanalysis inreal life，suchas monitoring the patient’S recovery progress in clinical practice，thecontrol strategy ofbionic robot，etc．This thesis estab· lished awearable gait analysis platform based onMEMS sensor andbody sensornetwork．The platformCanbe used to collectacceleration，angular veloci锣andthe geomagnetic signals inthe 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 errorand 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 zero velocity update algorithm in the field of gait analysis．The main research contentsareas follows： 1．This research adoptedmicro·electro—mechanical sensor and humanbody sensor network． awearable gait analysis platform was designed anddeveloped．A lot ofworkhas 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 ignoredby 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