人体6 自由度运动参数无线测试系统BTViewer 的设计与开发

为解决测试人体在三维空间中的关节运动参数，自主设计了人体六自由度运动参 数测试系统BTViewer。基于惯性传感器跟踪技术，设计了整体的系统平台工作流程，同时完成 了相关算法。为降低误差、减少漂移现象，本实验采用集成的三轴加速度计、三轴磁力计的模 块LSM303DLH 以及三轴陀螺仪动态采集样本数据，通过无线装置传输到电脑，有效合理地对 采集到的数据进行预处理，将原始数据互补滤波之后解析成实际数据，准确地得到人体六自由 度运动参数。最后，运用Qt 集成的OpenGL 等模块进行曲线、三维等可视化显示。实验表明， 该系统的设计达到了预期的要求，能够较好地跟踪人体6 自由度运动参数。

Human Body 6 Degree of Freedom Motion Parameters BTViewer WirelessTesting System Design and Development

In order to solve the test joint movement parameters of the human body in three-dimensional space, this paper puts forward a kind of independent design BTViewer six degrees of freedom motion parameters testing system of the human body. Based on the inertial sensor tracking technology, the working process of the overall design of the system platform, implement the algorithms at the same time. In order to reduce error and drift phenomenon, this experiment adopts the integrated three-axis accelerometer, the module LSM303DLH three-axis magnetometer and dynamic triaxial gyro samples data, transmitted to the computer via a wireless device, at the same time, the efficient of the collected data preprocessing, and complementary to the original data parsed into actual data after filtering, six degrees of freedom motion parameters accurately by the human body. Finally, using Qt integration of OpenGL to curve and 3D visualization display module. The design of the experiment show that the system has reached the expected requirement, 6 degree of freedom motion parameters can well track the human body.