## 人体步态测量系统信号处理方法研究

Title The study on processing methods of signal from
human gait measurement system
Abstract
Human gait is one of very important characteristics of human activities,form which
we extract the information can reflect the human health,and it is improtant.With
the development of electronic technology, wearable electronic devices can
accurately measure human condition.
In this paper,we use the wearable human gait measurement system,which includes
accelerometer and angular velocity,to measure the signal of human walking,and we
studyed deeply on the processing algorithm of the gait signal.In this paper,the
gait cycle segmentation algorithm is written to segment the gait signal;Runge Kutta
algorithm is used to solve the quaternion of the dynamic process,then the
conversion of the coordinate system can be solved by the conversion algorithm based 源自\$六l维,论:文w网)加7位QQ3249^114 www.lwfree.cn
on quaternion;Finally,by using the trapezoidal numerical integration method,the
gait parameters are solved.
Keywords Acceleration;Angular velocity;Gait;Coordinate conversion目 次
1 绪论 1
1.1 课题研究背景和意义.. 1
1.2 国内外研究现状. 2
1.3 本文主要内容.. 3
2 步态测量系统设计 4
2.1 系统总体框架.. 4
2.2 惯性测量模块.. 4
2.3 无线数据传输模块 6
2.4 数据处理模块.. 6
2.5 本章小结 7
3 步态信号处理算法介绍. 8
3.1 步态周期识别算法 8
3.1.1 步态周期划分.. 8
3.1.2 步态周期分段算法. 10
3.2 基于惯性导航四元数的坐标转换算法.. 11
3.2.1 坐标系 11
3.2.2 坐标系转化. 12
3.2.3 四元数法.. 13
3.2.3 四元数求姿态矩阵. 15
3.3 本章小结.. 15
4 人体步态信号处理算法实现 16
4.1 算法实现流程图.. 16
4.2 步态周期识别运算. 17
4.2.1 角速度预处理 17
4.2.2 过零干扰排除 18
4.3 步态参数计算 19
4.3.1 初始姿态求解 20
4.3.2 步态参数求解 21
4.4 实验结果. 23
4.5 本章小结. 24

1.1 课题研究背景和意义

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