空中手寫軌跡檢測系統(tǒng)的研究與設(shè)計
發(fā)布時間：2018-12-12 12:30
【摘要】：計算機的信息輸入方式有很多種,現(xiàn)在人們越來越喜愛手寫輸入,并且隨著智能設(shè)備的不斷發(fā)展,手寫輸入方式出現(xiàn)在生活的方方面面。最普遍的手寫輸入方式是利用手寫筆在固定的手寫平面進行書寫,通過采集手寫平面書寫的軌跡或者數(shù)據(jù)信息,然后將該數(shù)據(jù)傳送至終端設(shè)備進行處理,這屬于二維空間信息的輸入。本論文主要研究的是在三維空間中的數(shù)據(jù)輸入。目前,三維空間的軌跡跟蹤系統(tǒng)廣泛應(yīng)用于虛擬現(xiàn)實的人機交互領(lǐng)域,主要包括磁追蹤系統(tǒng)、激光追蹤系統(tǒng)和基于三維計算機視覺的追蹤系統(tǒng)。這些追蹤系統(tǒng)都具有較高的精度,但是其缺點有:成本高、體積大、不易攜帶,不適合三維空中手寫軌跡檢測系統(tǒng)的研究。而本論文設(shè)計了一種基于MEMS加速度傳感器的運動軌跡檢測系統(tǒng),該系統(tǒng)具有成本低、體積小、易攜帶等優(yōu)點,符合空中手寫軌跡檢測系統(tǒng)的研究。本論文主要使用高精度的六軸傳感器MPU6050檢測手寫筆在空中運動過程的加速度和角速度信息,根據(jù)牛頓第二定律對檢測的加速度數(shù)據(jù)的一次積分得到速度,然后對速度的一次積分就可以得到位移數(shù)據(jù)。由于在手寫的過程中會發(fā)生方向的變化,所以需要通過角速度計算出旋轉(zhuǎn)矩陣,再進行坐標(biāo)轉(zhuǎn)換將加速度數(shù)據(jù)固定到同一坐標(biāo)系中,然后利用牛頓第二定律進行兩次積分就可以計算出位移,并將這些計算出的位移點連接起來就可以獲得空中手寫的運動軌跡。但是在測量過程中,由于外部環(huán)境的變化會引入隨機誤差,或者傳感器本身的原因使測得的加速度和角速度數(shù)據(jù)存在誤差,或者手的抖動引起的誤差,都會導(dǎo)致最終的運動軌跡顯示不正確。本文中為了降低這些隨機誤差和測量誤差,設(shè)計并實現(xiàn)了kalman濾波器來降低隨機誤差,并根據(jù)零速度補償算法和多軸動態(tài)開關(guān)算法的原理設(shè)計并實現(xiàn)了對檢測到的加速度進行補償,并對積分過程產(chǎn)生誤差的累加做出了補償。系統(tǒng)總體可以分為兩個模塊:數(shù)據(jù)檢測模塊和上位機處理模塊。數(shù)據(jù)檢測模塊主要是檢測手部運動的加速度和角速度數(shù)據(jù);上位機處理模塊就是通過相關(guān)的算法進行處理,包括坐標(biāo)轉(zhuǎn)換、濾波、數(shù)據(jù)的積分及補償?shù)?最后就是將計算出的位移信息顯示出來。在硬件實現(xiàn)方面,主要使用MPU6050模塊檢測手寫運動過程的加速度和角速度信息,然后通過USB轉(zhuǎn)TTL電平的串口模塊將MPU6050與計算機相連接,并將檢測到的信息上傳至上位機,保存為txt文件;軟件實現(xiàn)方面,軟件實現(xiàn)的全部算法都在計算機的MATLAB上進行處理,包括坐標(biāo)轉(zhuǎn)換、kalman濾波、誤差補償、積分等。論文最后敘述了該系統(tǒng)的實驗過程,并展示了部分實驗結(jié)果。實驗結(jié)果表明該系統(tǒng)空中軌跡測量誤差小于15%,可滿足簡單的空中軌跡識別。此外,依據(jù)實驗結(jié)果及其分析結(jié)果,論文對系統(tǒng)提出了改進意見,并對將來的研究工作進行了展望。
[Abstract]:There are many kinds of information input methods in computer. Nowadays, people are more and more fond of handwriting input, and with the development of intelligent devices, handwriting input appears in every aspect of life. The most common form of handwriting input is to use the stylus to write on a fixed handwriting plane, by collecting the trace or data information of the handwriting plane, and then transmitting the data to the terminal device for processing. This is the input of two-dimensional spatial information. In this paper, data input in three-dimensional space is studied. At present, 3D trajectory tracking system is widely used in the field of virtual reality human-computer interaction, including magnetic tracking system, laser tracking system and 3D computer vision based tracking system. These tracking systems all have high accuracy, but their disadvantages are high cost, large volume and difficult to carry, so they are not suitable for the research of 3D aerial handwritten trajectory detection system. In this paper, a motion trajectory detection system based on MEMS acceleration sensor is designed. The system has the advantages of low cost, small volume and easy to carry. It is in line with the research of aerial handwritten trajectory detection system. In this paper, the acceleration and angular velocity information of the stylus in the process of air motion is detected by using the high-precision six-axis sensor MPU6050, and the velocity is obtained by the integration of the acceleration data measured by Newton's second law. Then the displacement data can be obtained by the first integral of the velocity. Because of the change of direction in the handwritten process, it is necessary to calculate the rotation matrix through angular velocity, and then fix the acceleration data to the same coordinate system by coordinate transformation. Then the displacement can be calculated by twice integrating Newton's second law and the handwritten motion track can be obtained by connecting the calculated displacement points together. However, in the measurement process, random errors may be introduced due to changes in the external environment, or errors exist in the measured acceleration and angular velocity data due to the sensor itself, or errors caused by the jitter of the hand. Will cause the final motion trajectory to show incorrectly. In order to reduce these random errors and measurement errors, a kalman filter is designed and implemented to reduce the random errors. According to the principle of zero-velocity compensation algorithm and multi-axis dynamic switching algorithm, the detected acceleration compensation is designed and realized, and the accumulation of errors in the integration process is compensated. The system can be divided into two modules: data detection module and PC processing module. The data detection module mainly detects the acceleration and angular velocity data of the hand motion. The upper computer processing module is processed by related algorithms, including coordinate transformation, filtering, data integration and compensation, etc. Finally, the calculated displacement information is displayed. In the aspect of hardware realization, MPU6050 module is mainly used to detect the acceleration and angular velocity information of handwritten motion process, then the MPU6050 is connected to the computer through the serial port module of USB to TTL level, and the detected information is uploaded to the upper computer. Save as txt file; In the aspect of software realization, all the algorithms are processed on the computer MATLAB, including coordinate conversion, kalman filter, error compensation, integration and so on. Finally, the experiment process of the system is described, and some experimental results are presented. The experimental results show that the measurement error of the system is less than 15. In addition, according to the experimental results and their analysis results, the paper puts forward some suggestions for improvement of the system, and prospects for future research work.
【學(xué)位授予單位】：成都理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP212
本文編號：2374553
[Abstract]:There are many kinds of information input methods in computer. Nowadays, people are more and more fond of handwriting input, and with the development of intelligent devices, handwriting input appears in every aspect of life. The most common form of handwriting input is to use the stylus to write on a fixed handwriting plane, by collecting the trace or data information of the handwriting plane, and then transmitting the data to the terminal device for processing. This is the input of two-dimensional spatial information. In this paper, data input in three-dimensional space is studied. At present, 3D trajectory tracking system is widely used in the field of virtual reality human-computer interaction, including magnetic tracking system, laser tracking system and 3D computer vision based tracking system. These tracking systems all have high accuracy, but their disadvantages are high cost, large volume and difficult to carry, so they are not suitable for the research of 3D aerial handwritten trajectory detection system. In this paper, a motion trajectory detection system based on MEMS acceleration sensor is designed. The system has the advantages of low cost, small volume and easy to carry. It is in line with the research of aerial handwritten trajectory detection system. In this paper, the acceleration and angular velocity information of the stylus in the process of air motion is detected by using the high-precision six-axis sensor MPU6050, and the velocity is obtained by the integration of the acceleration data measured by Newton's second law. Then the displacement data can be obtained by the first integral of the velocity. Because of the change of direction in the handwritten process, it is necessary to calculate the rotation matrix through angular velocity, and then fix the acceleration data to the same coordinate system by coordinate transformation. Then the displacement can be calculated by twice integrating Newton's second law and the handwritten motion track can be obtained by connecting the calculated displacement points together. However, in the measurement process, random errors may be introduced due to changes in the external environment, or errors exist in the measured acceleration and angular velocity data due to the sensor itself, or errors caused by the jitter of the hand. Will cause the final motion trajectory to show incorrectly. In order to reduce these random errors and measurement errors, a kalman filter is designed and implemented to reduce the random errors. According to the principle of zero-velocity compensation algorithm and multi-axis dynamic switching algorithm, the detected acceleration compensation is designed and realized, and the accumulation of errors in the integration process is compensated. The system can be divided into two modules: data detection module and PC processing module. The data detection module mainly detects the acceleration and angular velocity data of the hand motion. The upper computer processing module is processed by related algorithms, including coordinate transformation, filtering, data integration and compensation, etc. Finally, the calculated displacement information is displayed. In the aspect of hardware realization, MPU6050 module is mainly used to detect the acceleration and angular velocity information of handwritten motion process, then the MPU6050 is connected to the computer through the serial port module of USB to TTL level, and the detected information is uploaded to the upper computer. Save as txt file; In the aspect of software realization, all the algorithms are processed on the computer MATLAB, including coordinate conversion, kalman filter, error compensation, integration and so on. Finally, the experiment process of the system is described, and some experimental results are presented. The experimental results show that the measurement error of the system is less than 15. In addition, according to the experimental results and their analysis results, the paper puts forward some suggestions for improvement of the system, and prospects for future research work.
【學(xué)位授予單位】：成都理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP212
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