The Research of Recognition System for Upper Limb Posture Based on 3-Axis Accelerometer and Gyroscope

This paper is related to the design of an upper-limb motion recognition system based on a new-style MEMS sensor MPU-9150.In order to obtain more accurate deflection Angle, we describe the output of the 3-axis gyroscope and 3-axis accelerometer data with quaternion differential equations and then solving the corresponding equation through the timing incremental method and acceleration value separately. We can get two angles by solving the double integral values, then through the data fusion algorithm for two angle value processing to obtain the stable angle value. Verified, the results of this experiment have small error,had a high accuracy, stability and timeliness.