Sensors Data Processing for Innovative Swimming Tracking Device
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The document discusses the use of MEMS (microelectromechanical systems) sensors, including accelerometers, gyroscopes, and magnetometers, for developing an innovative swimming tracking device. It explains various data processing techniques for horizon plane detection and swimming data analysis, focusing on the advantages and disadvantages of each method. The document emphasizes the importance of accurately calculating device orientation for effective swimming performance monitoring.
Sensors Data Processing for Innovative Swimming Tracking Device
- 1. ©2014 GlobalLogic Inc. Sensors data processing for innovative swimming tracking device Orest Hera
- 2. MEMS Sensors Horizon plain detection Magnetic field of the Earth Swimming data analysis 01 02 03 04 ©2014 GlobalLogic Inc.
- 3. MEMS (MicroElectroMechanical System) Sensors: ● 3D accelerometer ● 3D gyroscope ● 3D magnetometer 01
- 4. MEMS Sensors Applications ● Mobile devices (Android, iOS) ○ Display/map orientation ○ Step counter, Compass applications ○ Augmented reality ● Small custom devices ○ Small vehicle navigation and stabilization (quadcopter) ○ Industrial automation ○ Innovative smart systems
- 5. MEMS Sensors Raw sensor data processing
- 6. Horizon plain detection: ● Gravity force detection by accelerometer ● Rotation speed by gyroscope ● Complementary filter 02
- 7. Horizon plain detection Angle by vector of gravity force Advantages: ● Direct measurement without error accumulation Disadvantages: ● System own acceleration should be filtered ● Relaxation time due to Low-pass filter
- 8. Horizon plain detection Angle by rotation speed integration Advantages: ● Can be used during accelerated motion Disadvantages: ● Integration error accumulation
- 9. Horizon plain detection Complementary filter ● High frequency by gyroscope ● Low frequency by gravity force vector Disadvantages: ● Cannot compensate error accumulation drift of rotations around vector of gravity force
- 10. Magnetic field of the Earth: ● Binding coordinate system to horizontal azimuth angle 03
- 11. Magnetic field of the Earth Magnetometer raw data Expected Reality
- 12. Magnetic field of the Earth Magnetometer calibration Ellipsoid equation: The least-squares problem Pseudo-inverse matrix
- 13. Swimming data analysis: ● Calculate device orientation by raw sensor data stream ● Dynamics of device orientation during swimming 04
- 14. Swimming data analysis Raw sensor data processing
- 15. Swimming data analysis X-,Z-axes horizontal direction (yaw)
- 16. Swimming data analysis X-,Y-,Z-axes vertical direction (pitch)
- 17. ©2014 GlobalLogic Inc. Thank You