Athlete speed prediction method using data from attached inertial measurement unit
First Claim
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1. A method for non-invasively obtaining velocity information of a subject, said method comprising:
- attaching an inertial measurement unit to the subject, said inertial measurement unit providing three-axis sensing of angular velocity and linear acceleration of the subject and outputting angular velocity and linear acceleration data;
obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a first time, the subject being stationary at said first time;
calculating a drift error of a velocity of the subject as a function of time in response to said angular velocity and linear acceleration data at said first time;
obtaining angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a second time, the subject being non-stationary at said second time;
calculating a corrected velocity of the subject at said second time in response to said drift error and said angular velocity and linear acceleration data at said second time; and
outputting said corrected velocity,wherein said calculating a corrected velocity of the subject at said second time in response to said drift error comprises calculating a corrected velocity according to the following equation;
{right arrow over (ν
)}c={right arrow over (ν
)}−
{right arrow over (ƒ
)}(t)where {right arrow over (ν
)} is an uncorrected subject velocity calculated from said measured angular velocity and linear acceleration, {right arrow over (ν
)}c is said corrected velocity of the subject, and {right arrow over (ƒ
)}(t) is a vector function in time of said drift error.
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Abstract
An apparatus and method for calculating athlete speed non-invasively, on the field/court of play using data from a torso-mounted inertial measurement unit. The method complements existing, GPS-based methods for calculating athlete speed by enabling use in environments where GPS signal is unavailable (i.e. indoors).
78 Citations
18 Claims
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1. A method for non-invasively obtaining velocity information of a subject, said method comprising:
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attaching an inertial measurement unit to the subject, said inertial measurement unit providing three-axis sensing of angular velocity and linear acceleration of the subject and outputting angular velocity and linear acceleration data; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a first time, the subject being stationary at said first time; calculating a drift error of a velocity of the subject as a function of time in response to said angular velocity and linear acceleration data at said first time; obtaining angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a second time, the subject being non-stationary at said second time; calculating a corrected velocity of the subject at said second time in response to said drift error and said angular velocity and linear acceleration data at said second time; and outputting said corrected velocity, wherein said calculating a corrected velocity of the subject at said second time in response to said drift error comprises calculating a corrected velocity according to the following equation;
{right arrow over (ν
)}c={right arrow over (ν
)}−
{right arrow over (ƒ
)}(t)where {right arrow over (ν
)} is an uncorrected subject velocity calculated from said measured angular velocity and linear acceleration, {right arrow over (ν
)}c is said corrected velocity of the subject, and {right arrow over (ƒ
)}(t) is a vector function in time of said drift error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for non-invasively obtaining velocity information of a subject, said method comprising:
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attaching an inertial measurement unit to the subject, said inertial measurement unit providing three-axis sensing of angular velocity and linear acceleration of the subject and outputting angular velocity and linear acceleration data; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a first time, the subject being stationary at said first time; calculating a drift error of a velocity of the subject as a function of time in response to said angular velocity and linear acceleration data at said first time; obtaining angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a second time, the subject being non-stationary at said second time; calculating a corrected velocity of the subject at said second time in response to said drift error and said angular velocity and linear acceleration data at said second time; outputting said corrected velocity; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a third time, the subject being stationary at said third time, wherein said calculating said drift error of said velocity of the subject as a function of time is in response to said angular velocity and linear acceleration data at said first time and said third time. - View Dependent Claims (11)
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12. A method for non-invasively obtaining velocity information of a subject, said method comprising:
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attaching no more than one inertial measurement unit to the subject, said inertial measurement unit providing three-axis sensing of angular velocity and linear acceleration of the subject and outputting angular velocity and linear acceleration data; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a first time, the subject being stationary at said first time; calculating a drift error of a velocity of the subject as a function of time in response to said angular velocity and linear acceleration data at said first time; obtaining angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a second time, the subject being non-stationary at said second time; calculating a corrected velocity of the subject at said second time in response to said drift error and said angular velocity and linear acceleration data at said second time; and outputting said corrected velocity, wherein said calculating a corrected velocity of the subject at said second time in response to said drift error comprises calculating a corrected velocity according to the following equation;
{right arrow over (ν
)}c={right arrow over (ν
)}−
{right arrow over (ƒ
)}(t)where {right arrow over (ν
)} is an uncorrected subject velocity calculated from said measured angular velocity and linear acceleration, {right arrow over (ν
)}c is said corrected velocity of the subject, and {right arrow over (ƒ
)}(t) is a vector function in time of said drift error. - View Dependent Claims (13, 14, 15, 16)
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17. A method for non-invasively obtaining velocity information of a subject, said method comprising:
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attaching no more than one inertial measurement unit to the subject, said inertial measurement unit providing three-axis sensing of angular velocity and linear acceleration of the subject and outputting angular velocity and linear acceleration data; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a first time, the subject being stationary at said first time; calculating a drift error of a velocity of the subject as a function of time in response to said angular velocity and linear acceleration data at said first time; obtaining angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a second time, the subject being non-stationary at said second time; calculating a corrected velocity of the subject at said second time in response to said drift error and said angular velocity and linear acceleration data at said second time; and outputting said corrected velocity; obtaining said angular velocity and linear acceleration data associated with said angular velocity and linear acceleration of the subject from said inertial measurement unit at a third time, the subject being stationary at said third time, wherein said calculating said drift error of said velocity of the subject as a function of time is in response to said angular velocity and linear acceleration data at said first time and said third time. - View Dependent Claims (18)
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Current AssigneeBoard of Regents of the University of Michigan (University of Michigan)
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Original AssigneeBoard of Regents of the University of Michigan (University of Michigan)
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InventorsPerkins, Noel C., McGinnis, Ryan S.
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Primary Examiner(s)Chan, Allen
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Application NumberUS14/224,386Publication NumberTime in Patent Office630 DaysField of Search463/36, 463/37, 482/8, 345/158, 700/91, 734/88US Class Current1/1CPC Class CodesG06V 40/23 Recognition of whole body m...
