低成本MEMS磁力计校正方法研究

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CHOE Namchol,赵红宇,仇森, SO Yongguk.低成本MEMS磁力计校正方法研究[J].,2018,58(1):105-110

低成本MEMS磁力计校正方法研究

Study of calibration method of low-cost MEMS magnetometer

DOI：10.7511/dllgxb201801016

中文关键词:磁力计校正动作捕捉椭球拟合 MPU-9250

英文关键词:calibration of magnetometer motion capture ellipsoid fitting MPU-9250

基金项目:国家自然科学基金资助项目(61473058)；中央高校基本科研业务费专项资金资助项目(DUT15ZD114DUT16RC(3)015).

作者	单位
CHOE Namchol,赵红宇,仇森, SO Yongguk

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中文摘要:

基于MIMU(magnetic and inertial measurement unit)的人体动作捕捉技术，每个测量单元在使用前，均需要对其磁力计进行校正．然而，一套人体动作捕捉系统具有7至十几个MIMU，因此缩短MIMU中磁力计校正的总时间是亟需解决的关键问题．磁力计校正可采用的旋转形式主要有两种，分别为八字旋转的校正方法和绕着各单轴旋转的校正方法．为了节省磁力计的校正时间并保证磁力计的校正精度，提出了一种优化的校正方法．即采用最小二乘法的椭球拟合方法，根据求得的椭球模型原点和半径均方根误差，确定最佳的旋转形式和旋转次数，以较快、较准确地校正磁力计．实验结果表明，绕各单轴各旋转1次的校正方法效果最佳．

英文摘要:

In MIMU (magnetic and inertial measurement unit) - based human motion capture technology, the calibration of magnetometer is necessary for each MIMU prior to use. Since a human motion capture system includes about seven to a dozen of MIMUs, the shortening of the total time is of critical importance to the magnetometer′s calibration. Magnetometer calibration method involves two rotation modes, i.e., along a ∞-shape trajectory and around each single axis. An appropriate calibration method by which the rotation form and the number of rotations are identified, is proposed to reduce the calibration time and to accurately calibrate the magnetometer. The optimal rotation form and the number of rotations are determined based on the RMSE of the origin and the long radius of the ellipsoid model, which is obtained by least squares ellipsoid fitting method. The test results demonstrate that one time rotation calibration method around each axis is highly effective for human motion capture.

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