engineering

传输调度多IMU系统

Transmission-scheduled multi-IMU system

A four-node wireless inertial measurement unit (IMU) system designed for low-cost lower-limb joint-angle measurement. It utilizes quaternion-based relative orientation to compute joint angles and employs a deterministic, master-driven slotted protocol over ESP-NOW to synchronize wireless transmission and minimize latency. / 一种用于低成本下肢关节角度测量的四节点无线惯性测量单元（IMU）系统。它利用基于四元数的相对方向计算关节角度，并采用确定性、主驱动的时隙协议在ESP-NOW上同步无线传输并最小化延迟。

Knowledge type: 物理设备
First proposed or discovered: 2026
Proposer: Trung Thanh Nguyen, Cuong Manh Do, Dong Phu Dao, Tam Ngoc Bui
Creator: 农场主
Last updated: 2026-11-10 23:05:31

Sub-knowledge points

Quaternion-based relative orientationDeterministic, master-driven slotted protocolESP-NOW hardware-timer broadcast triggerSerialisation moved out of receive callback

Higher-order knowledge points

Wireless Communication Hardware / 物理设备Wearable IMU networksLower-limb kinematic measurement

Main parameters and performance indicators

Node count: 4Slot delay: 1.2 + 2.5k msSampling rate: Free-running loopsEnd-to-end latency: 44 ms

Open problems

Acquisition-time skew limits joint-angle measurement during fast movementSingularity re-enters when an angle sequence is extracted

Related literature

ranked by community stars

A quaternion-based, transmission-scheduled multi-IMU system for low-cost lower-limb joint-angle measurement: bench validation against an encoder up to the Cardan singularity, and wireless protocol benchmarkingOpen source

传输调度多IMU系统

Sub-knowledge points

Higher-order knowledge points

Main parameters and performance indicators

Open problems

Related products and links