부산대학교 도서관

The inertial measurement unit is widely used in the design and implementation of the motion tracking system. This paper designs a ICM20948-based motion tracking system that supports wireless transmission. Our system consists of 15 motion collection modules, data receiver and PC. The motion collection module is responsible for collecting, calibrating and fusing motion data. The data receiver packs the motion data and transmits it to the PC through the USB transmission module. To reduce the effect of system error on the motion data, we use the 6-sided calibration algorithm to calibrate the accelerometer, use ellipsoidal algorithm to calibrate the magnetometer, and use the deviation value to calibrate the gyroscope. An adaptive extended Kalman filter is used for fusion of motion data to obtain accurate attitude corner information. We use NRF24L01 to build a transmission hardware and innovatively propose a wireless data transmission mechanism to ensure the transmission integrity of data. Our motion tracking system supports wireless transmission and can ensure the real-time, synchronization and stability when collecting and transmitting motion data.