基于加权互补四元数的姿态检测与实现

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中图分类号：TN911.7-34；TP274+.2 文献标识码：A 文章编号：1004-373X（2026）07-0133-06

引用格式：，.基于加权互补四元数的姿态检测与实现[J].现代电子技术，2026，49（7）：133-138.

Attitude detection and implementation based on weighted complementary quaternion

HEWei，LISu

（SchoolofPhysicsandElectronic Engineering，SichuanNormalUniversity，Chengdu61O1o1，China）

Abstract：Afall detectionsystembasedon MPU6o5O sensoris designed tobetter monitorthedisabled elderly.Thesystem combinesinertialsensortechnologyandinteligentalgorithmsandcanmonitorthemotionstatusofthedisabledelderlyand recognize fallevents inreal time.Thesystemuseschip STC8H8K64Uasthe maincontrolerandintegratessensor MPU6050， displayOLED，andbuzzrasanintegratedfalldetectionsystem.Areliableposturedetectionandwarningsystemisrealizedby postureiformationacquisitionandfallalarm functions.Thefusioncomplementary filterquaternionmethod isused inthe posturedata procesing toimprovethe mathematical processing performanceof human posturechanges，andthe weighted complementaryquaternionfusionmethodisusedtosynthesizethethreedirectionalanglesintoasingledirectionalangle，which improvesthestabilityandaccuracyof theposturedata.Theexperimentsshowthatthesystem issimpletooperate，and itsdata isreliable，safe and stable，and can effectively complete the care of the elderly.

Keywords：thedisabled elderly;falldetection;complementaryfilter;quaternionmethod; weighting method;inertialsensor

0 引言

随着老龄化问题日益严重，失能老人数量持续增加，这给家庭、社会和国家经济带来了沉重负担。（剩余7050字）