Using inertial measurement units mounted on foot is a feasible approach to improve the positioning accuracy for the human motion capture system. This paper presents a lightweight and low cost wireless inertial motion capture system for the simultaneous reconstruction of human body attitude and displacement. First of all, the device is based on human sensor networks and distributes 15 sensor nodes on the key human limbs. Then, after an initial sensor alignment with the reduced error, a zero-speed update algorithm is used to calculate foot displacement. In addition, to constantly update the human posture information, a kind of motion reconstruction method based on the gradient descent method was used to fuse the sensor data. Finally, a new method of three-dimensional human body reconstruction is proposed, which is different from the traditional motion capture system. Through unconstrained traversal of the root, the human posture and foot trajectory are combined to realize the synchronous reconstruction of posture and displacement. It is concluded from the experiment results that the estimation errors are well controlled, and motion patterns are consistent with the actual situation.

中文翻译：

---

基于传感器网络的基于可穿戴智能系统的人体动作捕捉

使用安装在脚上的惯性测量单元是提高人体运动捕捉系统定位精度的可行方法。本文提出了一种轻量级、低成本的无线惯性运动捕捉系统，用于同时重建人体姿态和位移。首先，该设备基于人体传感器网络，在人体关键四肢上分布了15个传感器节点。然后，在误差减小的初始传感器对准之后，使用零速度更新算法来计算足部位移。此外，为了不断更新人体姿态信息，采用了一种基于梯度下降法的运动重建方法来融合传感器数据。最后，提出了一种新的三维人体重建方法，这与传统的动作捕捉系统不同。通过对根的无约束遍历，结合人体姿态和足部轨迹，实现姿态和位移的同步重构。实验结果表明，估计误差得到了很好的控制，运动模式与实际情况一致。