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Design and Test of MEMS Attitude Measurement Unit for Fall Detection

机译:MEMS跌倒检测姿态测量装置的设计与测试

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摘要

Fall is a risky event in the elderly people's daily life, it often cause serious injury both in physiology and psychology. A MEMS attitude measurement system is designed for fall detection in real time. This paper presents the design and error test of the attitude measurement unit. Each unit contains orthogonally mounted triads of accelerometers, magnetometers and gyros. With an integrated microcontroller for attitude calculating and flash for data storage, the size of the unit is 32mm×23mm×12mm. An extended Kalman filter based on quaternions is designed for attitude measurement. The digital angle output rate is 100Hz. A new method based on coordinate transformation for attitude measurement error test is introduced, using a single axis turntable and a fixed angle wedge. Theory of the testing method is presented and test experiments are performed. Test results show that attitude measurement error is less than 2°, which meets the requirement of fall detection precision. The fall detection system consists of five attitude measurement units fixed on the human legs and waist.
机译:跌倒是老年人日常生活中的危险事件,它经常在生理和心理上造成严重伤害。 MEMS姿态测量系统设计用于实时跌倒检测。本文介绍了姿态测量单元的设计和误差测试。每个单元都包含加速度计,磁力计和陀螺仪的正交安装的三脚架。集成了用于姿态计算的微控制器和用于数据存储的闪存,该单元的尺寸为32mm×23mm×12mm。基于四元数的扩展卡尔曼滤波器设计用于姿态测量。数字角度输出率为100Hz。介绍了一种基于坐标变换的姿态测量误差测试新方法,该方法采用单轴转盘和固定角度楔形。介绍了测试方法的理论并进行了测试实验。测试结果表明,姿态测量误差小于2°,可以满足跌倒检测精度的要求。跌倒检测系统由五个固定在人腿和腰部的姿态测量单元组成。

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