CN113242527A - Communication system based on wireless somatosensory inertia measurement module - Google Patents
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Abstract
The application discloses communication system based on wireless body feeling inertia measurement module, including a plurality of inertia measurement modules, data coordinator and PC end. The inertia measurement modules and the data coordinator adopt a point-to-point networking mode, corresponding data transceivers in each inertia measurement module and the data coordinator carry out point-to-point data transmission, each pair of inertia measurement modules and the data transceivers communicate with each other to share one wireless communication channel, each data transceiver has own transmission frequency point, the mutual influence is avoided, the signal crosstalk of adjacent channels is effectively avoided, and the real-time performance and the reliability of a communication system are guaranteed. In addition, when the system is powered on, time synchronization is firstly carried out on the data coordinator and each inertia measurement module, and in the data transmission process, the ACK signal which is returned by the data coordinator and carries time information is used for compensating the time deviation of the inertia measurement modules, so that the time of each inertia measurement module is effectively synchronized, and the real-time performance and the synchronization performance of the whole communication system are ensured.
Description
Technical Field
The application relates to the technical field of wireless communication, in particular to a communication system based on a wireless somatosensory inertia measurement module.
Background
The inertial measurement is a technology for measuring the actions of a human body or other objects by using an inertial sensor, has the advantages of no field limitation, convenience in wearing and the like, and is widely applied to the fields of physical exercise, medical treatment, military, television and movies and the like at present. For example, people can realize the body feeling exercise health system by using the technology to help people to do physical exercise, so that the physical exercise can still be done without being influenced by outdoor fields, and the health of people is promoted. Therefore, designing an inertial measurement module software and hardware system has certain commercial value, and to realize an inertial measurement module software and hardware system with excellent performance, it is required that the wirelessly transmitted motion capture data have real-time performance and reliability. Therefore, it is also necessary to design a wireless sensor network communication method with high real-time performance, reliability and synchronization.
The prior art discloses a method for acquiring attitude data such as acceleration, angular velocity and the like based on an MEMS sensor. The inertia measurement module in the method has no wireless transmission unit, and has large volume and higher power consumption, so the method can not meet the requirement of wireless transmission at present.
The prior art discloses an active RFID low-power consumption system based on an inertia measurement module, which does not establish a wireless sensor network and does not design a communication method of the wireless sensor network, so that the real-time performance and the reliability of the wireless sensor network cannot be ensured. And the inertial measurement module of the system does not carry out electromagnetic shielding treatment, and the anti-interference capacity of the inertial sensor is small, so that the system cannot be applied to the current scene.
The prior art discloses a human motion capture system based on an inertial measurement module, which comprises a plurality of inertial sensors responsible for collecting data, a temperature sensor, a bluetooth module, a data coordinator and a data fusion module. In the system, data is connected with all the inertia measurement modules through a Bluetooth 4.0 protocol, and the uploading of data acquired by each inertia measurement module is realized by adopting a polling scanning mode. It can be seen that, in such a communication mode, if the data transmission rate of the inertia measurement module is too high, the phenomena such as packet loss and the like are easily caused. And time synchronization processing is not carried out, and under the condition that the working time of the inertia measurement module is too long, the phenomena of data packet confusion and data transmission conflict are easily caused by factors such as clock drift and the like, so that the design requirement at present is not met.
In summary, how to provide a wireless sensor network communication scheme with high real-time performance, reliability and synchronization is an urgent issue to be solved by those skilled in the art.
Disclosure of Invention
The application aims at providing a communication system based on a wireless somatosensory inertia measurement module, and the communication system is used for solving the problems that the existing communication scheme of the inertia measurement module is low in reliability, poor in real-time performance and not ideal in synchronism.
In order to solve the technical problem, the application provides a communication system based on a wireless somatosensory inertia measurement module, which comprises a plurality of inertia measurement modules, a data coordinator and a PC (personal computer) terminal, wherein the data coordinator comprises a main controller and a plurality of data transceivers, the data transceivers correspond to the inertia measurement modules one to one, and the transmission frequency points of the different data transceivers are different;
when the system is powered on, the data coordinator is used for sending a time synchronization calibration command to each inertia measurement module so as to trigger a time synchronization calibration process; in the time synchronization calibration process, each inertia measurement module determines the transmission time and the time deviation of the inertia measurement module compared with the data coordinator;
in the data transmission process, the inertia measurement module is used for sending inertia data to a corresponding data transceiver in a wireless transmission mode; after receiving the inertial data, the data transceiver is used for sending the inertial data to the main controller through an SPI bus and feeding back an ACK signal to the inertial measurement module, wherein the ACK signal carries time information of the inertial data received by the data transceiver; the main controller is used for integrating the received inertial data and sending an integration result to the PC end; and the inertia measurement module is used for correcting the time deviation according to the ACK signals received twice.
Preferably, the PC side is configured to send a control command to the inertial measurement module via the data coordinator, so as to implement a control operation on the inertial measurement module.
Preferably, the control operation comprises any one or more of: starting data acquisition, stopping data acquisition, entering a calibration mode, modifying an uploading period and modifying a module ID.
Preferably, the IO pin of the data transceiver is in an output mode, and outputs a low level by default; after receiving the inertia data sent by the inertia measurement module, an IO pin of the data transceiver outputs a high level, and an interrupt service function is triggered to update the marker bit data, wherein each bit in the marker bit data represents the state of the corresponding data transceiver; and the main controller circularly detects the flag bit data and reads the inertia data from the corresponding data transceiver according to the flag bit data.
Preferably, the inertial measurement module is configured to: and sending the data packet carrying the inertial data to a corresponding data transceiver in a wireless transmission mode, waiting for an ACK (acknowledgement) signal sent by the data transceiver, and if the ACK signal sent by the data transceiver is not received after a preset time threshold value is exceeded, sending the data packet to the data transceiver again until the sending times reach the maximum sending times.
Preferably, when the number of sending times reaches the maximum number of sending times, the inertial measurement module is configured to detect whether a communication channel of another inertial measurement module is idle, and if the communication channel of another inertial measurement module is idle, send a data packet to the data transceiver through the communication channel of the another inertial measurement module.
Preferably, the inertial measurement module includes a power management unit, an inertial sensor unit, a baseband and radio frequency processing unit, and an external crystal vibration source.
Preferably, the circuit board of the inertia measurement module adopts a four-layer board design scheme, and comprises a top signal layer, a middle power supply layer, a ground layer and a bottom signal layer.
Preferably, in the inertial measurement module, copper is disposed around the inertial sensor unit, and a tin foil material is disposed on an upper surface of the power management unit.
Preferably, the magnetic field calibration system further comprises a magnetic field calibration upper computer, wherein the magnetic field calibration upper computer is connected with the data coordinator through a USB interface and is used for collecting the magnetic field data of the inertia measurement module and sending a magnetic field data compensation value to the inertia measurement module.
The communication system based on wireless somatosensory inertia measurement module comprises a plurality of inertia measurement modules, a data coordinator and a PC (personal computer) end, wherein the data coordinator comprises a main controller and a plurality of data transceivers, the data transceivers are in one-to-one correspondence with the inertia measurement modules, and transmission frequency points of different data transceivers are different. When the system is powered on, the data coordinator sends a time synchronization calibration command to each inertia measurement module to trigger a time synchronization calibration process; during the time synchronization calibration process, each inertial measurement module determines the transmission time and its own time offset from the data coordinator. In the data transmission process, the inertia measurement module is used for sending inertia data to a corresponding data transceiver in a wireless transmission mode; after receiving the inertial data, the data transceiver is used for sending the inertial data to the main controller through the SPI bus and feeding back an ACK signal to the inertial measurement module, wherein the ACK signal carries time information of the inertial data received by the data transceiver; the main controller is used for integrating the received inertial data and sending an integration result to the PC end; the inertia measurement module is used for correcting the time deviation according to the ACK signals received twice.
Therefore, in the system, a point-to-point networking mode is adopted between the inertia measurement modules and the data coordinator, each inertia measurement module and the corresponding data transceiver in the data coordinator carry out point-to-point data transmission, each pair of inertia measurement modules and the data transceiver communicate to share one wireless communication channel, each data transceiver has own transmission frequency point, and the wireless communication channels are not influenced with each other, signal crosstalk of adjacent channels is effectively avoided, excessive data transmission delay caused by insufficient channel resources or channel competition is avoided when data are transmitted at high speed, and the real-time performance and the reliability of the communication system are ensured. In addition, when the system is powered on, time synchronization is firstly carried out on the data coordinator and each inertia measurement module, in the data transmission process, the ACK signal which is returned by the data coordinator and carries time information is used for compensating the time deviation of the inertia measurement modules, the time of the data coordinator and each inertia measurement module is effectively synchronized, and the real-time performance and the synchronization performance of the whole communication system are guaranteed.
Drawings
For a clearer explanation of the embodiments or technical solutions of the prior art of the present application, the drawings needed for the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block diagram of a first embodiment of a communication system based on a wireless somatosensory inertial measurement module provided in the present application;
fig. 2 is a schematic diagram of a second embodiment of a communication system based on a wireless somatosensory inertial measurement module provided in the present application;
fig. 3 is a block diagram of an internal design of a data coordinator in a second communication system based on a wireless somatosensory inertial measurement module according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of time synchronization calibration of a second embodiment of a communication system based on a wireless somatosensory inertial measurement module according to the present application;
fig. 5 is a schematic diagram illustrating time deviation compensation of a second embodiment of a communication system based on a wireless somatosensory inertial measurement module according to the present application;
fig. 6 is a schematic diagram of an internal bus of a data coordinator in a second communication system based on a wireless somatosensory inertial measurement module according to the present application;
fig. 7 is a schematic diagram of a hardware design of an inertial measurement module in a second embodiment of a communication system based on a wireless somatosensory inertial measurement module according to the present application;
fig. 8 is a schematic diagram of a magnetic field calibration upper computer according to a second communication system embodiment based on a wireless somatosensory inertial measurement module provided by the present application.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The traditional physical training has the limitation of places or people, so that sports enthusiasts cannot enjoy sports at any time to bring the effect of promoting health. Current wireless sensor networks generally use wireless communication technologies such as Bluetooth, WIFI, zigbee, and the like. In general, a bluetooth communication scheme is insufficient in networking capability because a master device is connected to seven slave devices at most. Although there are 13 WIFI wireless network channels, there are only three non-overlapping channels 1, 6, and 11 (or 13), that is, there is an overlapping portion between the two channels, so there is still a need to improve the real-time performance and stability, and the power consumption of the WIFI device is high. Although Zigbee has low power consumption and poor networking capability, the transmission rate is too slow, which is not in line with the requirements of the current scenario.
In the system, the inertia measurement module can capture the attitude motion information of the whole body to obtain inertia data, and the inertia data is wirelessly transmitted to the data coordinator and finally sent to the PC terminal. The inertial measurement module and the data transceiver in the data coordinator adopt a point-to-point networking mode, each pair of inertial measurement module and data transceiver only share one wireless communication channel in communication, each data transceiver has own transmission frequency points and is not influenced mutually, signal crosstalk of adjacent channels is effectively avoided, the condition that channel resources are insufficient or channel competition occurs is also avoided, and the real-time performance and the reliability of a communication system are guaranteed. Under the scene of sports, the system enables sports enthusiasts to finish own sports targets indoors, thereby promoting the physical health of people.
First embodiment of the communication system based on the wireless somatosensory inertial measurement module provided by the present application is described below, with reference to fig. 1, the first embodiment includes: the data coordinator comprises a main controller and a plurality of data transceivers, wherein the data transceivers are in one-to-one correspondence with the inertia measurement modules, and the transmission frequency points of different data transceivers are different.
When the system is powered on, the data coordinator is used for sending time synchronization calibration commands to the inertial measurement modules so as to trigger a time synchronization calibration process; during the time synchronization calibration process, each inertial measurement module determines the transmission time and its own time offset from the data coordinator.
In the data transmission process, the inertia measurement module is used for sending inertia data to a corresponding data transceiver in a wireless transmission mode; after receiving the inertial data, the data transceiver is used for sending the inertial data to the main controller through the SPI bus and feeding back an ACK signal to the inertial measurement module, wherein the ACK signal carries time information of the inertial data received by the data transceiver; the main controller is used for integrating the received inertial data and sending an integration result to the PC end; the inertia measurement module is used for correcting the time deviation according to the ACK signals received twice.
In addition, the PC side is used for sending the control command to the inertial measurement module through the data coordinator so as to realize the control operation of the inertial measurement module. In practical applications, the control operation includes any one or more of the following: starting data acquisition, stopping data acquisition, entering a calibration mode, modifying an uploading period and modifying a module ID.
In order to avoid the problem of packet loss, as a specific implementation manner, the inertia measurement module sends a data packet carrying inertia data to a corresponding data transceiver in a wireless transmission manner, then waits for an ACK signal sent by the data transceiver, and if the ACK signal sent by the data transceiver is not received after a preset time threshold is exceeded, sends the data packet to the data transceiver again until the sending times reach the maximum sending times.
Specifically, after the number of sending times reaches the maximum number of sending times, if the ACK signal sent by the data transceiver is still not received, it indicates that a problem occurs in the communication channel between the current inertia measurement module and the data transceiver, at this time, the inertia measurement module may detect whether the communication channel of another inertia measurement module is idle, and if the communication channel of another inertia measurement module is idle, the data packet is sent to the data transceiver through the communication channel of the another inertia measurement module. For example, assuming that the inertial measurement module 1 corresponds to the data transceiver 1 and the inertial measurement module 2 corresponds to the data transceiver 2, when a problem occurs in the communication between the inertial measurement module 1 and the data transceiver 1, the inertial measurement module 1 may temporarily transmit a data packet to the data transceiver 1 by using a communication channel between the inertial measurement module 2 and the data transceiver 2.
As a preferred embodiment, the present embodiment may further include a magnetic field calibration upper computer. The magnetic field calibration upper computer is connected with the data coordinator through the USB interface and is used for collecting the magnetic field data of the inertia measurement module and sending a magnetic field data compensation value to the inertia measurement module.
The communication system based on the wireless somatosensory inertial measurement module provided by the embodiment comprises a plurality of inertial measurement modules, a data coordinator and a PC (personal computer) terminal. In the system, a point-to-point networking mode is adopted between the inertia measurement modules and the data coordinator, corresponding data transceivers in each inertia measurement module and the data coordinator carry out point-to-point data transmission, each pair of inertia measurement modules and the data transceivers communicate with each other to share one wireless communication channel, each data transceiver has own transmission frequency point, and the wireless communication channels are not mutually influenced, signal crosstalk of adjacent channels is effectively avoided, the condition that data are transmitted at high speed is avoided, too high data transmission delay is caused due to insufficient channel resources or channel competition, and the real-time performance and the reliability of the communication system are ensured. In addition, when the system is powered on, time synchronization is firstly carried out on the data coordinator and each inertia measurement module, in the data transmission process, the ACK signal which is returned by the data coordinator and carries time information is used for compensating the time deviation of the inertia measurement modules, the time of the data coordinator and each inertia measurement module is effectively synchronized, and the real-time performance and the synchronization performance of the whole communication system are guaranteed.
The second embodiment of the communication system based on the wireless somatosensory inertial measurement module provided by the application is described in detail below, and is implemented based on the first embodiment, and is expanded to a certain extent on the basis of the first embodiment. Specifically, the embodiment describes in detail the process of time synchronization calibration, and introduces the hardware structure and software design of the inertial measurement module.
As shown in fig. 2 and fig. 3, the communication system based on the wireless somatosensory inertial measurement module provided by this embodiment includes a plurality of inertial measurement modules, a data coordinator, and a PC terminal. The inertia measurement module sends inertia data or state information to the data coordinator in a 2.4G wireless transmission mode, the 2.4G data transceiver in the data coordinator receives the data and sends the data to the main controller in an SPI bus mode, and the main controller integrates the data and uploads the data to the PC computer through the USB interface. The PC computer can also issue commands to the data coordinator through the upper computer software, so that the commands are issued to the specified inertia measurement module, the control operation of the inertia measurement module, such as parameter modification or checking, is completed, and the wireless sensor network which can upload data to the PC computer and issue commands to control the inertia measurement module is obtained.
The communication system based on the wireless somatosensory inertia measurement module is introduced in five parts as follows: the method comprises the following steps of communication between an inertia measurement module and a data coordinator, communication between a data transceiver and a main controller, hardware design of the inertia measurement module, software design of the inertia measurement module and a magnetic field calibration process of the inertia measurement module.
In a first part, the inertial measurement module communicates with the data coordinator.
In this embodiment, a point-to-point networking mode based on 2.4G active RFID transceivers is adopted between the inertia measurement modules and the data coordinator, and each inertia measurement module and the corresponding 2.4G data transceiver in the data coordinator perform point-to-point data transmission. Each data transceiver has own transmission frequency point, and the transmission frequency points are not influenced by each other. Each pair of inertial measurement module and data transceiver share one wireless communication channel, which has 14 channels and each channel has a bandwidth of 2 MHz. In order to avoid signal crosstalk of adjacent channels and better avoid overlapping of WIFI channels, each channel adopts fixed frequency points for transmission, and the frequency points are respectively: 2402MHZ, 2405MHZ, 2408MHZ, 2489MHZ, 2492MHZ, 2495MHZ, 2498MHZ, 2501MHZ, 2504MHZ, 2507MHZ, 2510MHZ, 2513MHZ, 2518MHZ, 2523 MHZ. Therefore, the problem that data transmission delay is too high due to insufficient channel resources or channel competition during high-speed data transmission can be avoided, and the real-time performance and the reliability in the wireless sensor network are improved. It can be understood that, in practical application, the number of the channels, the channel bandwidth, and the transmission splicing point may be set or adjusted by themselves according to a practical application scenario, which is not limited in this embodiment.
The 2.4G data transceiver in the data coordinator replies with an ACK signal every time it receives a data packet. If the inertial measurement module does not receive the ACK signal within a certain time after sending the data packet, the inertial measurement module will resend the data packet, if the sending is not successful for ten times, the inertial measurement module will detect whether the communication channel of other inertial measurement modules is idle, if the communication channel is idle, the communication channel is used for sending the data packet until the data packet is successful. Therefore, the packet loss phenomenon of 2.4G wireless transmission is avoided, and the reliability of the wireless sensor network is greatly improved.
In order to improve the real-time performance of the wireless sensor network, the time of the inertia measurement modules is synchronized, and the time disorder of each inertia measurement module caused by clock drift is avoided. In this embodiment, a synchronization time algorithm based on TPSN is used, and the data coordinator and each inertial measurement module are time-synchronized first, and then the data coordinator returns an ACK signal carrying time information to compensate the inertial measurement module. The specific process is as follows:
after the wireless sensor network is powered on, the data coordinator sends a time synchronization calibration command to the inertial measurement module, the inertial measurement module receives the command after the deta time, and sends a data packet 1 carrying time information T1 to the data coordinator at a time T1. At time T2, the data-coordination transceiver receives packet 1 and sends packet 2 to the inertial measurement unit at time T3, where packet 2 includes information of T1, T2, and T3. At time T4, the inertial measurement module receives packet 2. The process is shown in fig. 4, T2-T1 is delta + d, and T4-T3 is d-delta, where delta is the time offset between the inertia measurement module and the data transceiver, and d is the propagation delay of the time synchronization pulse packet. Therefore, the time deviation delta is [ (T2-T1) - (T4-T3) ]/2, and the transmission time d is [ (T2-T1) + (T4-T3) ]/2. After Delta and d are obtained, the inertia measurement module can calculate the time information vcoordinordinatortime of the data coordinator as Tick + Delta + d, where Tick is the current time of the inertia measurement module. Similarly, other inertia measurement modules operate in sequence, and can respectively obtain their deta and d, and the two obtained parameters delta and d can respectively compensate their own sending data packet timers, so as to achieve the synchronization effect.
In the transmission work of the wireless sensor network, because the crystal oscillator of the inertia measurement module has drift, the drift is larger along with the increase of time, and the delta value is not enough to compensate the drift value. Therefore, the data coordinator needs to return an ACK signal after receiving the data packet each time, the ACK signal carries time information of the data coordinator when receiving the data packet, and the delta value is compensated according to the ACK signal. As shown in fig. 5, the data coordinator is configured to load ACK data ACK at the time of the reception mode, the inertia measurement module sends the data packet 1, the data coordinator receives the data packet and records the current time t0, and returns the ACK data ACK to the inertia measurement module, and loads ACK data again for recording the time t0 to wait for the next data packet to arrive; the inertia measurement module sends a data packet 2, the data coordinator receives the data packet and simultaneously records the current time t1, and returns ACK data t0 to the inertia measurement module and loads the ACK data t 1; the inertia measurement module obtains time information t0 of the coordinator, subtracts the propagation delay d, then subtracts the propagation delay d from the data packet sending time Vcoordinatortime to obtain diff, and finally updates Delta + diff.
And a second part, communication of the data transceiver with the master controller.
The 2.4G data transceiver and the main controller adopt a wired SPI bus mode for communication, and the SPI interface has four lines: MISO, MOSI, CLK, CS as shown in FIG. 6. The MCU is used as a host, the 2.4G transceivers are used as slaves, and one MCU is mounted with 15 2.4G transceiver slaves.
In order to improve the response rate of the MCU to the 2.4G transceiver slave, each 2.4G transceiver slave has a common IO pin connected with the IO pin of the MCU. The IO pin of the slave is configured to be in an output mode, the normal state outputs low level, and the MCU pin connected with the slave is configured to be in an external interrupt input mode. When the 2.4G transceiver slave receives a data packet of the inertia measurement module, the IO pin of the slave outputs a high level, and then the MCU enters an interrupt service function. In this function, the value of the data IfDatFlg is changed. IfDatFlg is an unsigned integer 32-bit data, where each bit represents the state of the 2.4G transceiver slave. And the corresponding position 1 of the IfDatFlg represents that the corresponding transceiver receives data from the slave machine, and prompts the MCU to read the data. The MCU continuously judges whether the IfDatFlg is 0 or not to judge whether a transceiver receives a data packet or not, so that data is read in time and the requirements of real-time performance and reliability are met.
And the third part is the hardware design of the inertia measurement module.
As shown in fig. 7, the inertial measurement module includes a power management unit, an inertial sensor unit, a baseband and rf processing unit, and an external crystal vibration source. The power management unit is positioned at the bottom layer of the circuit board, and the attitude data acquisition unit, the baseband and radio frequency processing unit and the external crystal oscillator source are positioned at the top layer of the circuit board.
In the design of the high-speed circuit board, in order to avoid interference of electromagnetic signals inside and outside the circuit board on the attitude data acquisition unit and ensure that signals of a hardware system are more stable, the node circuit board of the embodiment adopts a four-layer board design scheme, and the node circuit board comprises a top surface signal layer, a middle power supply layer, a ground layer and a bottom surface signal layer. And copper cladding processing is carried out around the inertial sensor, and tin foil materials are used for isolating processing on the attitude data acquisition unit and the lithium battery, so that the electromagnetic interference capability of the MPU9250 chip is improved.
The baseband and radio frequency processing unit is the core of the whole inertia measurement module and mainly consists of an NRF24L01P chip of NORDIC company and an MCU. The NRF24L01P is a chip of a 2.4G transceiver, integrates an embedded baseband protocol engine (enhanced shockBurst), and the NRF24L01P supports air rates of 250kbps, 1Mbps and 2Mbps, is suitable for ultra-low power wireless application, has excellent wireless receiving sensitivity and anti-interference performance, and can also select other suitable chips in practical application. NRF24L01P configuration registers may be accessed in all modes of operation by Serial Peripheral Interface (SPI) operation and configuration of NRF24L 01P. In order to ensure the normal operation of the module, the MCU uses on-chip resources such as TIM2 timer, analog I2C interface, SPI interface, ADC converter, etc. The simulation I2C interface is used for communicating with the inertial sensor unit, collecting motion attitude data, the MCU can perform data fusion processing, and finally the data fusion processing is packaged into a data packet which is sent to the data coordinator through the radio frequency unit. The ADC is used for collecting power supply information of the lithium battery and monitoring electric quantity information of the lithium battery in real time. The SPI interface is used for configuration of NRF24L01P and transmission and reception of data. The TIM2 timer is used for timing and generating an interrupt signal, when the inertia measurement module is started, the MCU sends a frame data packet to the data coordinator every time an interrupt occurs, and in order to reduce clock drift, the clock source of the TIM2 adopts an external crystal oscillation source.
The inertial sensor unit is used for capturing the motion attitude information of the inertial measurement module. The inertial sensor is an MPU9250 chip of invense company, and an accelerometer sensor, a gyroscope sensor and a magnetometer sensor are integrated on the inertial sensor. The acceleration sensor is used for capturing acceleration information of the racket, the gyroscope is used for capturing angle and angular speed information of the racket, and the magnetometer is used for measuring the magnetic field intensity and the direction of the current position of the racket. It is understood that other chips may be used as the inertial sensor in practical applications, and the embodiment is not limited thereto.
The power management unit is connected with each power supply to stably supply 3.3V power for each unit. The unit mainly comprises a 4.2V lithium battery, a USB charging management chip TC4045P, an LDO (low dropout regulator), a switch, a field effect transistor and the like. The USB charging management chip is used for managing USB charging current and preventing damage to a lithium battery or a module caused by overcharge. The field effect transistor is matched with the switch to control the inertia measurement module to be turned on or off, and the use of the field effect transistor effectively prevents huge voltage loss caused by poor contact of the switch. The LDO is used for stabilizing the power supply voltage of the other units to be 3.3V.
And the fourth part is the software design of the inertia measurement module.
Firstly, a command process from an upper computer to an inertial measurement module is introduced. The PC computer is connected with the data coordinator through the USB interface, the PC upper computer issues the command to the data coordinator, and the data coordinator transmits the command to the inertia measurement module through the 2.4G transceiver. After receiving the command, the inertial sensor analyzes the command information to complete the corresponding action. The command format and the function from the upper computer to the inertial measurement module are as follows:
TABLE 1
The first inertia measurement module is powered on and is in a default mode, state information such as a module ID number, lithium battery electric quantity information and collected data frequency of the inertia measurement module is sent in the default mode, an upper computer is waited to send a command, and the inertia measurement module enters a command mode. In the command mode, the data acquisition function of the inertia measurement module can be started, the acquisition of the module can be stopped, the ID number of the module can be changed, and the like. After the inertial measurement module is started to collect data, the TIM2 timer in NRFL24E1 will start the timed interrupt function, generate an interrupt every 33ms and send a data packet.
Now, the data format of the inertial measurement module to the upper computer is described, which includes:
BYTE 1: device ID (1-20);
BYTE2：0；
BYTE 3: 2, the terminal sends dynamic data to the service program;
BYTE 4: N/A, independent value;
BYTE 5: send sequence number 1(0-255 cycles);
BYTE 6: sending sequence number 2(0-255 cycle, after each dynamic data frame is sent, [ sending sequence number 2 ] +1, after upward carry, [ sending sequence number 1 ] + 1);
BYTE7-BYTE 10: a 32-bit integer number representing the number of milliseconds since the start instruction was present;
BYTE11-BYTE 36: the sensor data, as shown in the table below, includes four parts.
TABLE 2
| Quaternion | Q0L | Q0H | Q1L | Q1H | Q2L | Q2H | Q3L | Q3H |
| Acceleration of a vehicle | AxL | AxH | AyL | AyH | AzL | AzH | ||
| Angular velocity | WxL | WxH | WyL | WyH | WzL | WzH | ||
| Magnetic field | HxL | HxH | HyL | HyH | HzL | HzH |
BYTE11-BYTE 18: representing quaternions as follows:
Q0＝((Q0H<<8)|Q0L)/32768
Q1＝((Q1H<<8)|Q1L)/32768
Q2＝((Q2H<<8)|Q2L)/32768
Q3＝((Q3H<<8)|Q3L)/32768
BYTE 19-BYTE 24: the acceleration is expressed as follows:
ax ═ ((AxH < <8) | AxL)/32768 × 16g (g is gravity acceleration, and can take 9.8m/s2)
ay ═ ((AyH < <8) | AyL)/32768 × 16g (g is gravity acceleration, and can take 9.8m/s2)
az ═ ((AzH < <8) | AzL)/32768 × 16g (g is gravity acceleration, and can take 9.8m/s2)
BYTE 25-BYTE 30: the angular velocity is expressed specifically as follows:
wx＝((wxH<<8)|wxL)/32768*2000(°/s)
wy＝((wyH<<8)|wyL)/32768*2000(°/s)
wz＝((wzH<<8)|wzL)/32768*2000(°/s)
BYTE 31-BYTE 36: represents the magnetic field, as follows:
magnetic field (x axis) Hx ═ ((HxH < <8) | HxL)
Magnetic field (y axis) Hy ═ ((HyH < <8) | HyL)
Magnetic field (z axis) Hz ═ ((HzH < <8) | HzL)
And a fifth part, a magnetic field calibration process of the inertial measurement module.
Fig. 8 is a magnetic field calibration upper computer of the inertial measurement module, which is written based on the QT5.4 platform. The upper computer is connected with the data coordinator through a USB interface, and can complete the functions of collecting the magnetic field data of the inertia measurement module, issuing a compensation magnetic field data value to the inertia measurement module and the like.
The upper computer code mainly comprises files such as main.cpp, myapp.cpp, mythread.cpp and widget.h. The myapp. cpp file mainly realizes the design of a UI interface, connects various slot functions and creates and uses a serial port thread. Cpp file mainly realizes the initialization of serial port, the receiving and sending functions of serial port data and the connection of drawing slot function. The widget.h file mainly realizes the functions of drawing tables and points in the widget window.
Therefore, the embodiment relates to the technical field of wireless sensing and the technical field of human motion sensing, in particular to wireless sensing communication based on somatosensory inertia measurement of a sensor in a micro electro mechanical system technology. The embodiment provides a wireless sensor network communication method with high real-time performance, high reliability and synchronous time, and a somatosensory inertia measurement module design with small volume and low power consumption. Not only can satisfy the demand that ordinary motion fan physical training was taken exercise, can also dock with the body and feel the recreation, for professional sportsman's correction motion gesture, promote professional sportsman's skill. In summary, the present embodiment has at least the following advantages:
1. a point-to-point networking mode based on 2.4G active RFID transceivers is adopted, data are transmitted point to point by the corresponding 2.4G transceivers in each inertia measurement module and the data coordinator, and each data packet received by the 2.4G transceiver can reply an ACK signal to a sender, so that the wireless sensor network has higher real-time performance and better reliability.
2. In the design of the high-speed circuit board, a four-layer board design scheme is adopted. And copper cladding is carried out around the inertial sensor, and tin foil materials are used for isolating the attitude data acquisition unit and the lithium battery, so that the interference of electromagnetic signals inside and outside the circuit board on the attitude data acquisition unit is avoided, and the stability of hardware system signals is improved.
3. The MEMS inertial sensor is used for collecting data, the MCU is used for carrying out data fusion to obtain quaternion and other related attitude data, the quaternion and other related attitude data are finally uploaded to the data coordinator in a wireless transmission mode, and the PC upper computer can also issue a command to carry out magnetic field calibration on the inertial measurement module.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above detailed descriptions of the solutions provided in the present application, and the specific examples applied herein are set forth to explain the principles and implementations of the present application, and the above descriptions of the examples are only used to help understand the method and its core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A communication system based on a wireless somatosensory inertia measurement module is characterized by comprising a plurality of inertia measurement modules, a data coordinator and a PC (personal computer) terminal, wherein the data coordinator comprises a main controller and a plurality of data transceivers, the data transceivers are in one-to-one correspondence with the inertia measurement modules, and the transmission frequency points of the data transceivers are different;
when the system is powered on, the data coordinator is used for sending a time synchronization calibration command to each inertia measurement module so as to trigger a time synchronization calibration process; in the time synchronization calibration process, each inertia measurement module determines the transmission time and the time deviation of the inertia measurement module compared with the data coordinator;
in the data transmission process, the inertia measurement module is used for sending inertia data to a corresponding data transceiver in a wireless transmission mode; after receiving the inertial data, the data transceiver is used for sending the inertial data to the main controller through an SPI bus and feeding back an ACK signal to the inertial measurement module, wherein the ACK signal carries time information of the inertial data received by the data transceiver; the main controller is used for integrating the received inertial data and sending an integration result to the PC end; and the inertia measurement module is used for correcting the time deviation according to the ACK signals received twice.
2. The communication system based on the wireless somatosensory inertial measurement module according to claim 1, wherein the PC terminal is configured to send a control command to the inertial measurement module via the data coordinator to implement a control operation on the inertial measurement module.
3. The wireless somatosensory inertial measurement module-based communication system of claim 2, wherein the control operations comprise any one or more of: starting data acquisition, stopping data acquisition, entering a calibration mode, modifying an uploading period and modifying a module ID.
4. The communication system based on the wireless somatosensory inertial measurement module according to claim 1, wherein an IO pin of the data transceiver is in an output mode, and outputs a low level by default; after receiving the inertia data sent by the inertia measurement module, an IO pin of the data transceiver outputs a high level, and an interrupt service function is triggered to update the marker bit data, wherein each bit in the marker bit data represents the state of the corresponding data transceiver; and the main controller circularly detects the flag bit data and reads the inertia data from the corresponding data transceiver according to the flag bit data.
5. The wireless somatosensory inertial measurement module-based communication system of claim 1, wherein the inertial measurement module is to: and sending the data packet carrying the inertial data to a corresponding data transceiver in a wireless transmission mode, waiting for an ACK (acknowledgement) signal sent by the data transceiver, and if the ACK signal sent by the data transceiver is not received after a preset time threshold value is exceeded, sending the data packet to the data transceiver again until the sending times reach the maximum sending times.
6. The communication system based on the wireless somatosensory inertial measurement module according to claim 5, wherein when the number of transmission times reaches the maximum number of transmission times, the inertial measurement module is configured to detect whether a communication channel of another inertial measurement module is idle, and if the communication channel of another inertial measurement module is idle, transmit a data packet to the data transceiver through the communication channel of the another inertial measurement module.
7. The communication system based on the wireless somatosensory inertial measurement module according to claim 1, wherein the inertial measurement module comprises a power management unit, an inertial sensor unit, a baseband and radio frequency processing unit and an external crystal vibration source.
8. The communication system based on the wireless somatosensory inertial measurement module according to claim 7, wherein the circuit board of the inertial measurement module adopts a four-layer board design scheme and comprises a top signal layer, a middle power supply layer, a ground layer and a bottom signal layer.
9. The communication system based on the wireless somatosensory inertial measurement module according to claim 7, wherein in the inertial measurement module, copper cladding is provided around the inertial sensor unit, and a tin foil material is provided on an upper surface of the power management unit.
10. The communication system based on the wireless somatosensory inertial measurement module according to any one of claims 1 to 9, further comprising a magnetic field calibration upper computer, wherein the magnetic field calibration upper computer is connected with the data coordinator through a USB interface and is used for collecting magnetic field data of the inertial measurement module and issuing a magnetic field data compensation value to the inertial measurement module.
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