空间手写笔姿态与笔迹检测系统的研究
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摘要
作为计算机信息录入的一种重要方式,手写输入越来越受到人们的重视,开始出现在生活的方方面面。最常见的手写输入方式是使用手写笔在手写板上输入信息,通过手写板将采集得到的数据传送至电脑并进行处理,属于二维空间信息录入。本文的目的是研究三维信息录入技术,应用手写笔在三维空间随意书写,并将书写的笔迹信息重现。
手写动态采集系统使用安装于手写笔上的加速度传感器、磁场强度传感器及角速度传感器采集手写笔的动态信息,通过A/D转换将得到的数据由串行通信接口传送至计算机进行处理。
本文由姿态检测系统的搭建出发,逐步阐述了三维空间手写输入系统实现的可行性。对实现笔迹重现的技术方案进行了论证,后重点阐述了系统的软硬件结构,并通过对航向角误差理论的研究,得到了可以改善笔迹重现效果的有效算法,随后的实验中分别采用加入姿态角补偿算法的手写笔和未加入姿态补偿算法的手写笔进行绘图,结果表明加入补偿算法后系统能够较准确地反应书写轨迹。系统达到了预期的设计功能,基本完成了设计目标。本文还针对实验中发现的不足,指出了需要进一步改进的地方,为系统的完善提出了一些建议。
As an important way to input information to computers, people begin to pay more and more attention to handwriting and this inputting method exist in everywhere in our life. Using a pen writing on a handwritten panel is the most usual way to input information. And information is adopted and transferred to computers and then solved. This information method is 2D-space information input. In this paper, it is the aim to research 3D-space information input method. It can use handwriting pen to write in 3D-space arbitrarily. And then the chirography can be reappeared in computers.
Micro-accelerometers、Micro- magnetometer and Micro- gyro mounted on the pen are used in this dynamic handwriting features acquisition system, and data is transmitted to computer for data processing and feature analysis through serial port after A/D conversion.
The paper begins with putting up attitude detection system and then it discusses the possibility of establishing the handwriting inputting system in 3D-space. First the paper demonstrate the technical scheme of chirography painted and then the structure of software and hardware are emphatically discussed. After that ,through researching of the error theory about heading angle, we find an effective algorithm to improve the results of chirography. The experiment adopts attitude angle compensation algorithm and general algorithm to paint chirography. The result shows that the compensation algorithm can paint chirography accurately.
The system reach the aim of expected design function. At the same time, the paper points out the shortcomings of the system and advices some improvements according to them.
手写动态采集系统使用安装于手写笔上的加速度传感器、磁场强度传感器及角速度传感器采集手写笔的动态信息,通过A/D转换将得到的数据由串行通信接口传送至计算机进行处理。
本文由姿态检测系统的搭建出发,逐步阐述了三维空间手写输入系统实现的可行性。对实现笔迹重现的技术方案进行了论证,后重点阐述了系统的软硬件结构,并通过对航向角误差理论的研究,得到了可以改善笔迹重现效果的有效算法,随后的实验中分别采用加入姿态角补偿算法的手写笔和未加入姿态补偿算法的手写笔进行绘图,结果表明加入补偿算法后系统能够较准确地反应书写轨迹。系统达到了预期的设计功能,基本完成了设计目标。本文还针对实验中发现的不足,指出了需要进一步改进的地方,为系统的完善提出了一些建议。
As an important way to input information to computers, people begin to pay more and more attention to handwriting and this inputting method exist in everywhere in our life. Using a pen writing on a handwritten panel is the most usual way to input information. And information is adopted and transferred to computers and then solved. This information method is 2D-space information input. In this paper, it is the aim to research 3D-space information input method. It can use handwriting pen to write in 3D-space arbitrarily. And then the chirography can be reappeared in computers.
Micro-accelerometers、Micro- magnetometer and Micro- gyro mounted on the pen are used in this dynamic handwriting features acquisition system, and data is transmitted to computer for data processing and feature analysis through serial port after A/D conversion.
The paper begins with putting up attitude detection system and then it discusses the possibility of establishing the handwriting inputting system in 3D-space. First the paper demonstrate the technical scheme of chirography painted and then the structure of software and hardware are emphatically discussed. After that ,through researching of the error theory about heading angle, we find an effective algorithm to improve the results of chirography. The experiment adopts attitude angle compensation algorithm and general algorithm to paint chirography. The result shows that the compensation algorithm can paint chirography accurately.
The system reach the aim of expected design function. At the same time, the paper points out the shortcomings of the system and advices some improvements according to them.
引文
1 余锦凤等.中文信息处理基本教程. 北京大学出版社,2003:1～6
2 傅永和.中文信息处理.广东教育出版社,1999:1～29
3 张楠. 无约束手写数字识别研究.中国科学院研究生院,2000: 1～4
4 手写识别汉字技术发展及应用. http://www.chinaocr.net/show_hdr.php?xname=TVKUIV0&dname=BUTUIV0&xpos=426
5 章燕申.高精度导航系统.中国宇航出版社,2005:1～6
6 Kenneth R Britting.Inertial Navigation Systems Analysis.John Wiley & Sons,Inc
7 郭素云.陀螺仪原理及应用.哈尔滨工业大学出版社,1985:1～10
8 胡小平.自主导航理论与应用.国防科技大学出版社,2002: 1～18
9 孙仲康,陈辉煌.定位导航与制导.国防工业出版社,1987: 1～10
10 Chory M A.Autonomous Navigation,Where are in,AIAN-P-84-1826
11 章燕申.激光陀螺和静电陀螺导航系统开始大量生产.导航与雷达,1981(2):135～137
12 秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社,1998: 1～10
13 朱荣,周兆英.基于 MEMS 的姿态测量系统.测控技术,2002(21):6～8
14 赵来定,华炜.一种新型三轴数字罗盘的设计.计算机测量与控制,2006(14):240～241
15 Caruso.J,Application of magnetoresistive sensors in navigation systems.In sensors and actuators,1997 SEA SP-1210:15～21
16 秦永元.惯性导航.科学出版社,2005:1～5
17 艾佛里尔等.武凤德等译.高精度惯性导航基础.国防工业出版社,2002:1～20
18 Aronowitz F. The Laser Gyro. In: Laser Application. Academic Press,1976:1～5
19 邓正隆.惯性技术.哈尔滨工业大学出版社,2006: 1～7
20 贾海涛.手写动态特征采集系统.清华大学研究生院,2004:10～12
21 邓正隆.惯性技术.哈尔滨工业大学出版社,2006: 8～12
22 Analog Device Corp. ADXL330 Data Book. http://www.analog.com
23 AICHI Steel Corp. AMI302 Data Book. http://www.aichi.com.jp
24 Analog Device Corp. ADXRS401 Data Book. http://www.analog.com
25 ATmel Corp. ATmega128 Data Book. http://www.atmel.com
26 马潮. 高档 8 位单片机 ATmega128 原理与开发应用指南(上). 北京航空航天大学出版社, 2004:6～12
27 沈文. AVR 单片机 C 语言开发入门指导. 清华大学出版社, 2003:4～16
28 ATMEL Corporation.ATmega128 technology notebook,Rev.2467L-AVR-05/04
29 AVRStudio User Guide.ATMEL Corporation Version4.07 Debugging Tool for the AVR family Build 240
30 刘路放.Visual C++面向对象程序设计教程.高等教育出版社,2000:179～228
31 李现勇. Visual C++串口通信技术与工程实践.人民邮电出版社,2004:226～300
32 谭思亮,邹超群. Visual C++串口通信工程开发实例导航.人民邮电出版社,2003:1～35
33 刘鎏. Visual C++ 6.0 用户界面制作技术与应用实例.中国水利水电出版社,1998:25～30
34 汪雪莲.电子罗盘的方位测量误差及其补偿校正.声学与电子测量,2005(4):41～43
35 杨艳娟.捷联惯性导航系统关键技术研究.哈尔滨工程大学.2001:18～22
36 Thoms stork. Application note: Electronic compass Design Using KM251 and KM252. Philips Semiconductors
37 杨新勇,黄圣国.磁罗盘罗差分析与验证.电子科技大学学报.2004,33(5):547～550
38 Vehicle Digital compass.http://www.aro.army.mil/arowash/rt/sbir/04brochure/pg1.pdf
39 孙祥. MATLAB7.0 基础教程.清华大学出版社.2005,244～306
40 Chapman S J. MATLAB Programming for Engineers. Brooks/Cole. CA, 2002
41 The MathWorks. Control System Toolbox. The MathWorks, Inc., Natick , MA , 1996
42 Naoni Ehrich Leonard, William S.Levine. Using MATLAB To Control Systems, 1997
2 傅永和.中文信息处理.广东教育出版社,1999:1～29
3 张楠. 无约束手写数字识别研究.中国科学院研究生院,2000: 1～4
4 手写识别汉字技术发展及应用. http://www.chinaocr.net/show_hdr.php?xname=TVKUIV0&dname=BUTUIV0&xpos=426
5 章燕申.高精度导航系统.中国宇航出版社,2005:1～6
6 Kenneth R Britting.Inertial Navigation Systems Analysis.John Wiley & Sons,Inc
7 郭素云.陀螺仪原理及应用.哈尔滨工业大学出版社,1985:1～10
8 胡小平.自主导航理论与应用.国防科技大学出版社,2002: 1～18
9 孙仲康,陈辉煌.定位导航与制导.国防工业出版社,1987: 1～10
10 Chory M A.Autonomous Navigation,Where are in,AIAN-P-84-1826
11 章燕申.激光陀螺和静电陀螺导航系统开始大量生产.导航与雷达,1981(2):135～137
12 秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社,1998: 1～10
13 朱荣,周兆英.基于 MEMS 的姿态测量系统.测控技术,2002(21):6～8
14 赵来定,华炜.一种新型三轴数字罗盘的设计.计算机测量与控制,2006(14):240～241
15 Caruso.J,Application of magnetoresistive sensors in navigation systems.In sensors and actuators,1997 SEA SP-1210:15～21
16 秦永元.惯性导航.科学出版社,2005:1～5
17 艾佛里尔等.武凤德等译.高精度惯性导航基础.国防工业出版社,2002:1～20
18 Aronowitz F. The Laser Gyro. In: Laser Application. Academic Press,1976:1～5
19 邓正隆.惯性技术.哈尔滨工业大学出版社,2006: 1～7
20 贾海涛.手写动态特征采集系统.清华大学研究生院,2004:10～12
21 邓正隆.惯性技术.哈尔滨工业大学出版社,2006: 8～12
22 Analog Device Corp. ADXL330 Data Book. http://www.analog.com
23 AICHI Steel Corp. AMI302 Data Book. http://www.aichi.com.jp
24 Analog Device Corp. ADXRS401 Data Book. http://www.analog.com
25 ATmel Corp. ATmega128 Data Book. http://www.atmel.com
26 马潮. 高档 8 位单片机 ATmega128 原理与开发应用指南(上). 北京航空航天大学出版社, 2004:6～12
27 沈文. AVR 单片机 C 语言开发入门指导. 清华大学出版社, 2003:4～16
28 ATMEL Corporation.ATmega128 technology notebook,Rev.2467L-AVR-05/04
29 AVRStudio User Guide.ATMEL Corporation Version4.07 Debugging Tool for the AVR family Build 240
30 刘路放.Visual C++面向对象程序设计教程.高等教育出版社,2000:179～228
31 李现勇. Visual C++串口通信技术与工程实践.人民邮电出版社,2004:226～300
32 谭思亮,邹超群. Visual C++串口通信工程开发实例导航.人民邮电出版社,2003:1～35
33 刘鎏. Visual C++ 6.0 用户界面制作技术与应用实例.中国水利水电出版社,1998:25～30
34 汪雪莲.电子罗盘的方位测量误差及其补偿校正.声学与电子测量,2005(4):41～43
35 杨艳娟.捷联惯性导航系统关键技术研究.哈尔滨工程大学.2001:18～22
36 Thoms stork. Application note: Electronic compass Design Using KM251 and KM252. Philips Semiconductors
37 杨新勇,黄圣国.磁罗盘罗差分析与验证.电子科技大学学报.2004,33(5):547～550
38 Vehicle Digital compass.http://www.aro.army.mil/arowash/rt/sbir/04brochure/pg1.pdf
39 孙祥. MATLAB7.0 基础教程.清华大学出版社.2005,244～306
40 Chapman S J. MATLAB Programming for Engineers. Brooks/Cole. CA, 2002
41 The MathWorks. Control System Toolbox. The MathWorks, Inc., Natick , MA , 1996
42 Naoni Ehrich Leonard, William S.Levine. Using MATLAB To Control Systems, 1997