中文摘要：

步态分析在健康监测等领域中有着广泛的应用,精确估计髋关节角是步态分析的前提。但是大腿运动的高度非线性和不确定性,以及微型传感器测量噪声的不稳定性等诸多因素,基于微型惯性传感器的髋关节角精确估计面临着巨大的挑战。该文提出利用混合动态贝叶斯网络、多运动模型和噪声模型对髋关节角的非线性变化和测量噪声的改变进行建模,然后基于穿戴在大腿上的微型加速度传感器获得的测量值,通过高斯粒子滤波算法估计髋关节角度。实验结果表明该方法能够有效提高髋关节角的估计精度。

英文摘要：

Hip angle is a major parameter in gait analysis while gait analysis plays important role in healthcare,animation and other applications.Accurate estimation of hip angle using wearable inertial sensors in ambulatory environment remains a challenge,this is mainly because（1） the non-linear nature of thigh movement has not been well addressed,and（2） the variation of micro-inertial sensor measurement noise has not been studied yet.We propose to use Hybrid Dynamic Bayesian Network（HDBN） and multiple motion models and multiple noise models to model the non-linear hip angle dynamics and variation of measurement noise levels.Gaussian Particle Filter（GPF） is employed to estimate the hip angle during gait cycles from the measurements of accelerometers that are attached to the thighs.The experimental results show that the proposed method can achieve significant accuracy improvement over the previous work on the ambulatory hip angle estimation.