| 摘要 |
The invention concerns a method for estimating movement of a poly-articulated mass object, consisting of a plurality of segments linked by at least one articulation. The method comprises the following steps: acquiring (401) inertial measurements from at least one sensor module that is fixed relative to a segment, said module consisting of an accelerometer and a gyrometer, said measurements being expressed in a measuring mark that is fixed relative to said segment; determining (420), from said measurements, at least one force vector external to the mass object so as to control a physical model of this object, said model representing the mass object; estimating (409) kinematic quantities (410) associated with the segments of the object by applying the fundamental principle of dynamics with the at least one force vector determined in the previous step (420). |
