JP6922208B2 - Information processing equipment, information processing methods and programs - Google Patents

Description

The present invention relates to an information processing device, an information processing method and a program.

Conventionally, there is a technique related to a device for correcting an offset value of a gyro sensor by using an acceleration sensor and a gyro sensor. In such a technique, for example, Patent Document 1 discloses a technique in which a sensor determines a stationary state of an object, and when it is determined that the object is stationary, offset correction is performed on the gyro sensor. ..

Japanese Unexamined Patent Publication No. 2012-37405

However, the technique described in Patent Document 1 described above has inherent problems that it is difficult to determine a stationary state and that offset correction cannot be performed unless the object is completely stationary in the first place, which is appropriate. It took the user time and effort to correct the offset of the sensor to the value.

The present invention has been made in view of such a situation, and an object of the present invention is to enable the value obtained from the sensor to be corrected to an appropriate value with less effort.

In order to achieve the above object, the information processing apparatus of one aspect of the present invention measures a first physical quantity measured within a series of operations and a second physical quantity having a coordinate system different from that of the first physical quantity. The world to which the first physical quantity belongs to the acquired second physical quantity by the acquisition means to be acquired and the value obtained by subtracting the correction value of the first physical quantity prepared in advance from the acquired first physical quantity. The evaluation value of the correction value of the first physical quantity is set based on the calculation means that converts to the value of the coordinate system and calculates the weighted variance from the converted value and the weighted variance calculated by the calculation means. It is characterized by including a setting means and an updating means for updating the correction value of the first physical quantity based on the evaluation value of the correction value of the first physical quantity set by the setting means.

According to the present invention, it is possible to correct the value obtained from the sensor to an appropriate value with less effort.

It is a system configuration diagram which shows the system configuration of the motion analysis system S which concerns on one Embodiment of this invention. It is a block diagram which shows the hardware structure of the sensor unit 1 which concerns on one Embodiment of this invention. It is a block diagram which shows the hardware structure of the motion analysis apparatus 2 which concerns on one Embodiment of the information processing apparatus of this invention. It is a figure which shows the comparison between the angle estimated from the sensor value of the gyro sensor at the time of swing, and the angle calculated by motion capture. It is a figure which shows the result of performing the world coordinate system transformation with respect to the acceleration at the time of a swing. It is a figure which showed the result of the presence or absence of the rotation correction of a gyro offset in the acceleration after the world coordinate system transformation. Of the functional configurations of the motion analysis device 2 of FIG. 3, it is a functional block diagram showing a functional configuration for executing a waist angle calculation process. FIG. 5 is a flowchart illustrating a flow of a waist angle calculation process executed by the motion analysis device 2 of FIG. 3 having the functional configuration of FIG. 7. It is a flowchart explaining the flow of the evaluation value calculation process in the waist angle calculation process.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a system configuration diagram showing a system configuration of a motion analysis system S according to an embodiment of the present invention.
As shown in FIG. 1, the motion analysis system S includes a sensor unit 1 and a motion analysis device 2.

The sensor unit 1 has at least a sensing function for sensing the movement of the wearing target and a communication function for transmitting the sensed data (hereinafter, referred to as “sensor information”) to the motion analysis device 2.
In the present embodiment, the sensor unit 1 is mounted near the waist of a golf swinger, and a series of swing motions are sensed as motions to be mounted.

The motion analysis device 2 analyzes at least the communication function for receiving the sensor information transmitted from the sensor unit 1 and the sensor information, and determines the posture during a series of operations (in the present embodiment, the posture change of the waist). It has an analysis function for analysis and a display function for displaying the analysis result on the screen.
In the present embodiment, the motion analysis device 2 identifies a series of swing motions and each motion such as an address, a takeback, a downswing, a follow, and a finish constituting the swing by analysis.
Further, in the present embodiment, the motion analysis device 2 analyzes the acquired sensor information after the series of movements in the swing is completed, estimates the posture change of the waist, and displays the estimation result on the screen. The user who confirms the posture change (movement) of the waist in the swing can use it for improving the form and the like.

FIG. 2 is a block diagram showing a hardware configuration of the sensor unit 1 according to the embodiment of the present invention.
As shown in FIG. 2, the sensor unit 1 includes a CPU (Central Processing Unit) 11-1, a ROM (Read Only Memory) 12-1, a RAM (Random Access Memory) 13-1, and a bus 14-1. , Input / output interface 15-1, sensor unit 16-1, input unit 17-1, output unit 18-1, storage unit 19-1, communication unit 20-1, and drive 21-1. It has.

The CPU 11-1 executes various processes according to the program recorded in the ROM 12-1 or the program loaded from the storage unit 19-1 into the RAM 13-1.

Data and the like necessary for the CPU 11-1 to execute various processes are also appropriately stored in the RAM 13-1.

The CPU 11-1, ROM 12-1, and RAM 13-1 are connected to each other via the bus 14-1. An input / output interface 15-1 is also connected to the bus 14-1. A sensor unit 16-1, an input unit 17-1, an output unit 18-1, a storage unit 19-1, a communication unit 20-1, and a drive 21-1 are connected to the input / output interface 15-1.

The sensor unit 16-1 is composed of various sensors such as a gyro sensor, a 3-axis acceleration sensor, and a geomagnetic sensor. At least, the angular velocity generated in the sensor unit 1 is detected according to the user's operation and output as sensor information. do.

The input unit 17-1 is composed of various buttons and the like, and inputs various information according to a user's instruction operation.
The output unit 18-1 is composed of a display, a speaker, or the like, and outputs an image or sound.
The storage unit 19-1 is composed of a hard disk, a DRAM (Dynamic Random Access Memory), or the like, and stores various image data.
The communication unit 20-1 controls communication with other devices (not shown) via a network including the Internet.

A removable media 31-1 made of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is appropriately mounted on the drive 21-1. The program read from the removable media 31 by the drive 21-1 is installed in the storage unit 19-1 as needed. Further, the removable media 31-1 can also store various data such as image data stored in the storage unit 19-1 in the same manner as the storage unit 19-1.

FIG. 3 is a block diagram showing a hardware configuration of the motion analysis device 2 according to an embodiment of the information processing device of the present invention.
The motion analysis device 2 is configured as an information device such as a smartphone, for example.

As shown in FIG. 3, the motion analysis device 2 includes a CPU 11-2, a ROM 12-2, a RAM 13-2, a bus 14-2, an input / output interface 15-2, an input unit 17-2, and an output. A unit 18-2, a storage unit 19-2, a communication unit 20-2, a drive 21-2, and an imaging unit 22-2 are provided.
That is, the sensor unit 1 and the motion analysis device 2 are the same in the configurations of the CPU 11-1 to the drive 21-1 and the CPU 11-2 to the drive 21-2, excluding the sensor unit 16-1. In the motion analysis device 2, the description of the same configuration as that of the sensor unit 1 will be omitted.

The motion analysis device 2 further includes an imaging unit 22-2 in addition to the CPU 11-2 to the drive 21-2.

Although not shown, the imaging unit 22-2 includes an optical lens unit and an image sensor.

The optical lens unit is composed of a lens that collects light, such as a focus lens or a zoom lens, in order to photograph a subject.
The focus lens is a lens that forms a subject image on the light receiving surface of the image sensor. A zoom lens is a lens that freely changes the focal length within a certain range.
The optical lens unit is also provided with peripheral circuits for adjusting setting parameters such as focus, exposure, and white balance, if necessary.

The image sensor is composed of a photoelectric conversion element, an AFE (Analog Front End), and the like.
The photoelectric conversion element is composed of, for example, a CMOS (Complementary Metal Oxide Semiconductor) type photoelectric conversion element or the like. A subject image is incident on the photoelectric conversion element from the optical lens unit. Therefore, the photoelectric conversion element performs photoelectric conversion (imaging) of the subject image, accumulates an image signal for a certain period of time, and sequentially supplies the accumulated image signal as an analog signal to AFE.
AFE executes various signal processing such as A / D (Analog / Digital) conversion processing on the analog image signal. A digital signal is generated by various signal processing and is output as an output signal of the imaging unit 22.
Such an output signal of the imaging unit 22-2 is hereinafter referred to as “captured image data”. The captured image data is appropriately supplied to the CPU 11-2, an image processing unit (not shown), or the like.

When estimating the attitude of a device by using sensor information indicating a physical quantity sensed by an acceleration sensor, a gyro sensor, or a geomagnetic sensor, for example, the following two points often become problems.
1) Estimating the direction of gravity It is common to use an accelerometer to estimate the direction of gravity. However, since the body moves violently in movements such as swinging, dynamic acceleration is mixed and it is difficult to extract pure gravitational acceleration. Pure gravitational acceleration can be obtained once it is completely stationary before and after the swing, but it includes extra movement from the original swing movement.
2) Gyro offset In attitude estimation, the rotational change obtained from the gyro sensor is often integrated. However, the gyro sensor is generally in a state where a minute zero point error is added (hereinafter referred to as "gyro offset") due to individual differences, temperature changes, and the passage of time, and this is not taken into consideration. If the rotation change is integrated, it will rotate in the wrong direction. In order to obtain this gyro offset, it is necessary to obtain the value of the gyro sensor that is completely stationary.
That is, it is necessary for the user to keep a completely stationary state for a certain period of time in order to correct the gyro offset, which includes an extra operation from the original swing operation.
Here, the zero point error is also referred to as a "gyro offset value", and a value obtained by subtracting the gyro offset value and correcting it to an appropriate value (true value) is also referred to as a "gyro offset correction value".

The motion analysis device 2 of the present embodiment can solve the above-mentioned problems, can estimate the posture from the sensor information of the acceleration sensor, the gyro sensor, and the geomagnetic sensor, and clearly and completely before and after the swing. It has a function that can estimate the posture even when there is no stationary state.

FIG. 4 is a diagram showing a comparison between the angle estimated from the sensor value of the gyro sensor at the time of swing and the angle determined by motion capture. In the figure, at the angle of each axis, the solid line indicates the motion capture, and the broken line indicates the gyro sensor.
As shown in the example of FIG. 4, when the measurement is performed by the gyro sensor and the motion capture during the swing, the angle calculated from the motion capture in which the angle estimated from the angular velocity acquired from the gyro sensor is the true angle change. It can be seen that there is a gradual deviation from (especially the x-axis and y-axis). Since this deviation is caused by the gyro offset value, the angle becomes appropriate by subtracting with an appropriate gyro offset correction value that matches the value of the motion capture. That is, the angle can be made appropriate by gradually changing the gyro offset correction value and searching for an appropriate numerical value.

However, in the motion analysis system S of the present embodiment, since only the measurement result from the sensor unit 1 is used, the motion capture is not measured. Therefore, it is determined from the sensor data whether the current gyro offset is appropriate by using the evaluation value.

As the evaluation value of the gyro offset, the reciprocal of the weighted variance of acceleration and geomagnetism is used.

FIG. 5 is a diagram showing the result of performing world coordinate system transformation on the acceleration at the time of swing. In the figure, the solid line indicates the X axis, the broken line indicates the Y axis, and the alternate long and short dash line indicates the Z axis. Further, the world coordinate system conversion is performed by accelerating from time 0 by the angular velocity obtained by the gyro sensor.
As shown in the example of FIG. 5, the gravitational acceleration basically appears, and the dynamic acceleration due to the swing motion is also added. Furthermore, the gravitational acceleration is gradually rotating due to the gyro offset, and the effect of the gyro offset on the rotation appears in the dispersion of the acceleration.
If an appropriate gyro offset can be estimated, the gravitational acceleration does not rotate, and the three-axis acceleration can be separated correctly, resulting in a small variance. If the gyro offset is not corrected, the three-axis acceleration cannot be separated correctly and the variance becomes large.

FIG. 6 is a diagram showing the result of the presence / absence of rotation correction of the gyro offset in the acceleration after the conversion of the world coordinate system. In FIG. 6A, the solid line indicates the X axis, the broken line indicates the Y axis, the alternate long and short dash line indicates the Z axis, and in FIG. 6C, the solid line is motion capture at the angle of each axis. And the broken line indicates the gyro sensor.
As shown in the example of FIG. 6A, if the dispersion is simple, the dispersion value becomes large due to the influence of the dynamic acceleration due to the swing. Therefore, as shown in FIG. 6B, the gyro sensor and the acceleration are used. From the sensor value, the weight of the part with large movement, that is, the part that is not stationary is reduced (conversely, the closer to stationary, the larger the weight is). At this time, the weighted average is also used as the average. The smaller the variance, the more correct the angular velocity value and the correct estimation, so the evaluation value is the reciprocal of the variance.
As a result, as shown in the example of FIG. 6B, it can be said that the estimation close to the motion capture can be performed as compared with FIG.

FIG. 7 is a functional block diagram showing a functional configuration for executing the waist angle calculation process among the functional configurations of the motion analysis device 2 of FIG.
The waist angle calculation process corrects the gyro offset based on the subtraction amount set based on the calculated evaluation value of the gyro offset, calculates the waist angle, estimates it, and displays it. A series of processes to be performed.

When executing the waist angle calculation process, as shown in FIG. 7, in the CPU 11-2, the sensor information acquisition unit 51, the evaluation value calculation process unit 52, the offset setting process unit 53, and the waist angle calculation process unit 54 and the output control unit 55 function.

Further, a sensor information storage unit 71 and a posture information storage unit 72 are set in one area of the storage unit 19-2.

The sensor information storage unit 71 stores sensor information of an acceleration sensor, a gyro sensor, and a geomagnetic sensor for each series of swing operations.

The posture information storage unit 72 stores information on the posture change including the calculated waist angle information.

The sensor information acquisition unit 51 acquires sensor information of an acceleration sensor, a gyro sensor, and a geomagnetic sensor stored in the sensor information storage unit 71.

The evaluation value calculation processing unit 52 executes the evaluation value calculation process. As a result of executing the evaluation value calculation process, the evaluation value of the gyro offset is calculated. In the evaluation value calculation process, the weight of each time is calculated by the dispersion of the angular velocity and acceleration, the current gyro offset is subtracted from the angular velocity value acquired by the gyro sensor, and the acceleration is rotated by the subtracted angular velocity value. Convert to the world coordinate system, calculate the weighted variance from the acceleration of the world coordinate system, and set the inverse of the weighted variance as the evaluation value of the gyro offset.

The offset setting processing unit 53 searches for a gyro offset correction value having a higher evaluation value from the vicinity by using various search methods such as the least squares method, updates the gyro offset correction value, and processes related to the setting of the gyro offset correction. I do.

The waist angle calculation processing unit 54 calculates the angle during the swing from the value of the angular velocity subtracted based on the evaluation value, and performs the processing related to the calculation of the waist angle.

The output control unit 55 controls the output unit 18-2 so as to display the change in the posture of the waist by, for example, an animation in which a model modeling the waist portion is moved according to the change in the angle.

FIG. 8 is a flowchart illustrating a flow of a waist angle calculation process executed by the motion analysis device 2 of FIG. 3 having the functional configuration of FIG. 7.
The waist angle calculation process is started by the user's operation of starting the waist angle calculation process to the input unit 17-2. Further, in the waist angle calculation process, the sensor information of the acceleration sensor, the gyro sensor, and the geomagnetic sensor including the swing motion to be analyzed is acquired in advance from the sensor unit 1 via the communication unit 20-2, and the sensor information storage unit. Store in 71.

In step S11, the sensor information acquisition unit 51 acquires sensor information of the acceleration sensor, the gyro sensor, and the geomagnetic sensor in the range including the swing to be analyzed from the sensor information storage unit 71.

In step S12, the evaluation value calculation processing unit 52 calculates the weight at each time by dispersing the angular velocity and acceleration.
The weight [W [i]] is calculated using the following equation (1).
W [i] = 1.0f / (GyrNorm [i] x α + AccVar [i] x β) ... (1)
The smaller the size of the gyro [GyrNorm [i] = norm (Gyr [i])], and the smaller the dispersion of acceleration [AccVar [i] = var (Acc [id: i + d]], the smaller the size of the gyro [GyrNorm [i] = norm (Gyr [i])]. Since the assumption that it will be stationary holds, the weight is calculated by the above equation (1). “D” is 0.25 seconds in this embodiment, and “α” and “β” are , A coefficient determined by experiments, etc.

In step S13, the evaluation value calculation processing unit 52 initializes the gyro offset correction value to [X, Y, Z] = [0,0,0].

In step S14, the evaluation value calculation processing unit 52 executes the evaluation value calculation process. As a result of executing the evaluation value calculation process, the evaluation value of the gyro offset at a predetermined time is calculated. The detailed flow of the evaluation value calculation process will be described later.

In step S15, the offset setting processing unit 53 searches for a gyro offset correction value having a higher evaluation value from the vicinity. Specifically, when the current value of the gyro offset correction value [GyrOff [gx_i, gy_i, gz_i]] is v, the periphery is shifted by the fixed value gd for each axis, and the evaluation value exceeds v. Search for things.
When a gyro offset correction value having a higher evaluation value is found from the vicinity, it is determined as [found] in step S15, and the process proceeds to step S16.
If a gyro offset correction value having a higher evaluation value is not found in the vicinity, it is determined as [not found] in step S15, and the process proceeds to step S17.

In step S16, the offset setting processing unit 53 updates the gyro offset correction value. After that, the process returns to step S14.

In step S17, the waist angle calculation processing unit 54 calculates the waist angle by subtracting the angular velocity acquired from the gyro sensor with the gyro offset correction value. The calculated waist angle information is stored in the posture information storage unit 72.

In step S18, the output control unit 55 controls the output unit 18-2 so as to display the change in the posture of the waist. The change in the posture of the waist can be displayed by, for example, an animation in which a model in which the part of the waist is modeled is moved according to the change in the angle. After that, the waist angle calculation process is completed.

FIG. 9 is a flowchart illustrating the flow of the evaluation value calculation process in the waist angle calculation process.

In step S31, the evaluation value calculation processing unit 52 subtracts the current gyro offset value from the angular velocity acquired by the gyro sensor.

In step S32, the evaluation value calculation processing unit 52 rotates the acceleration according to the subtracted angular velocity value and converts it into the world coordinate system. The processes of step S31 and steps S32 and S33 can be performed in parallel, and the order may be reversed.

In step S33, the evaluation value calculation processing unit 52 calculates the weighted average from the acceleration of the world coordinate system.
The weighted average [AccRMean] is calculated by the following equation (2).
Weighted average [AccRMean] = {Σ (AccR [i] × W [i])} / ΣW [i] ... (2)

In step S34, the evaluation value calculation processing unit 52 calculates the weighted variance from the acceleration of the world coordinate system.
The weighted variance [AccRVar] is calculated by the following equation (3).
Weighted variance [AccRVar] = [Σ {W [i] × (AccR [i] -AccRMean) ^ 2}] / N ... (3)
In the weighted variance, no interval is provided in order to confirm that the value does not change as a whole due to the variance (see FIG. 3).

In step S35, the evaluation value calculation processing unit 52 sets the reciprocal of the weighted variance as the evaluation value of the gyro offset.
That is, the evaluation value of the gyro offset is set from the following equation (4).
Evaluation value of gyro offset = 1 / AccRVar ... (4)
The evaluation value of the geomagnetism can be calculated by the same method, and the final evaluation value is obtained by taking the weighted sum of the two.

Therefore, the motion analysis device 2 can more appropriately correct the gyro offset value included in the angular velocity obtained by the gyro sensor by the above-mentioned processing. Therefore, even when the Z-axis direction is different from the gravity direction like the sensor unit 2 which is attached to the waist of the golf player to be measured and measures the swing motion, it is possible to perform accurate posture correction. can. Further, since the acceleration data can be correctly separated, the gravity direction can be correctly estimated from the dispersion of the acceleration in the three axial directions.

The motion analysis device 2 configured as described above includes a sensor information acquisition unit 51 and an offset setting processing unit 53.
The sensor information acquisition unit 51 acquires a first physical quantity measured a plurality of times within a series of operations and a second physical quantity different from the first physical quantity.
The offset setting processing unit 53 determines the correction value of the first physical quantity based on the dispersion value of the second physical quantity in the period of the series of operations acquired by the sensor information acquisition unit 51.
As a result, the motion analysis device 2 can correct the value obtained from the sensor to an appropriate value with less effort.

Further, the motion analysis device 2 calculates an evaluation value of the first physical quantity in the corresponding period based on the dispersion value of the second physical quantity in the period of the series of operations acquired by the sensor information acquisition unit 51. A calculation processing unit 52 is further provided.
The offset setting processing unit 53 determines the correction value of the first physical quantity based on the evaluation value calculated by the evaluation value calculation processing unit 52.
As a result, the motion analysis device 2 can correct the value obtained from the sensor to an appropriate value with less effort.

The evaluation value calculation processing unit 52 determines whether or not to correct the first physical quantity based on the dispersion value of the second physical quantity in the period of the series of operations acquired by the sensor information acquisition unit 51.

The evaluation value calculation processing unit 52 calculates the correction value of the first physical quantity based on the evaluation value.

In the evaluation value calculation processing unit 52, the motion analysis device 2 sets a weighted distribution according to the variance value of the second physical quantity.
Further, the evaluation value calculation processing unit 52 calculates a low evaluation value at a portion having a large difference in the weighted distribution according to the variance value of the second physical quantity set by the evaluation value calculation processing unit 52.
As a result, the motion analysis device 2 can more appropriately correct the offset of the angular velocity obtained from the gyro sensor.

The sensor information acquisition unit 51 acquires the first physical quantity and the second physical quantity, respectively, after the measurement of the series of operations is completed.
As a result, in the motion analysis device 2, the offset of the angular velocity obtained from the gyro sensor can be appropriately corrected by using the first physical quantity and the second physical quantity after the measurement of the series of motions is completed.

The measurement of a series of movements is performed by a sensor device worn on the body of the movement target person.
As a result, the motion analysis device 2 can acquire the posture change of the body of the motion target person.

The first physical quantity is the angular velocity.
The second physical quantity is acceleration or geomagnetism.
As a result, the motion analysis device 2 can appropriately correct the offset of the angular velocity obtained from the gyro sensor from the acceleration or the geomagnetism.

The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.

In the above-described embodiment, it has been described as analyzing a golf swing, but the present invention is not limited to this. It can be applied to an operation in which an operation that changes from a stationary state to an operating state and finally becomes a stationary state takes a few seconds, and is also applicable to a swing such as baseball or tennis.

In the above-described embodiment, the evaluation value is calculated while changing the gyro offset correction value, and the one having a high evaluation value is adopted as an appropriate gyro offset correction value, but the present invention is not limited to this. At the stage where the weight of each time is calculated by the evaluation value calculation processing unit 52, the presence or absence of the gyro offset correction may be determined depending on whether or not the calculated weight value exceeds a predetermined threshold value. ..

In the above-described embodiment, the evaluation value is calculated while changing the gyro offset correction value, and the one having a high evaluation value is adopted as an appropriate gyro offset correction value, but the present invention is not limited to this. At the stage where the weight of each time is calculated by the evaluation value calculation processing unit 52, a table calculated in advance and associated with the weight and the gyro offset correction value is recorded, and the gyro offset correction value is determined by referring to the table. It may be configured to do so.

Further, in the above-described embodiment, the motion analysis device 2 to which the present invention is applied has been described by taking a digital camera as an example, but the present invention is not particularly limited thereto.
For example, the present invention can be generally applied to electronic devices having a waist angle calculation processing function. Specifically, for example, the present invention can be applied to notebook personal computers, printers, television receivers, video cameras, portable navigation devices, mobile phones, smartphones, portable game machines, and the like.

The series of processes described above can be executed by hardware or software.
In other words, the functional configuration of FIG. 7 is merely an example and is not particularly limited. That is, it suffices if the motion analysis device 2 is provided with a function capable of executing the above-mentioned series of processes as a whole, and what kind of functional block is used to realize this function is not particularly limited to the example of FIG. ..
Further, one functional block may be configured by a single piece of hardware, a single piece of software, or a combination thereof.
The functional configuration in the present embodiment is realized by a processor that executes arithmetic processing, and the processor that can be used in the present embodiment is composed of various processing devices such as a single processor, a multiprocessor, and a multicore processor. In addition to the above, the present invention includes a combination of these various processing units and processing circuits such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array).

When a series of processes are executed by software, the programs constituting the software are installed on a computer or the like from a network or a recording medium.
The computer may be a computer embedded in dedicated hardware. Further, the computer may be a computer capable of executing various functions by installing various programs, for example, a general-purpose personal computer.

The recording medium including such a program is not only composed of the removable media 31 of FIG. 3 distributed separately from the device main body in order to provide the program to the user, but also is preliminarily incorporated in the device main body. It is composed of a recording medium or the like provided to the above. The removable media 31 is composed of, for example, a magnetic disk (including a floppy disk), an optical disk, a magneto-optical disk, or the like. The optical disk is composed of, for example, a CD-ROM (Compact Disk-Read Only Memory), a DVD (Digital Versaille Disk), a Blu-ray (registered trademark) Disc (Blu-ray Disc), or the like. The magneto-optical disk is composed of an MD (Mini-Disc) or the like. Further, the recording medium provided to the user in a state of being preliminarily incorporated in the main body of the apparatus is composed of, for example, the ROM 12 of FIG. 3 in which the program is recorded, the hard disk included in the storage unit 19 of FIG.

In the present specification, the steps for describing a program to be recorded on a recording medium are not necessarily processed in chronological order, but also in parallel or individually, even if they are not necessarily processed in chronological order. It also includes the processing to be executed.
Further, in the present specification, the term of the system means an overall device composed of a plurality of devices, a plurality of means, and the like.

Although some embodiments of the present invention have been described above, these embodiments are merely examples and do not limit the technical scope of the present invention. The present invention can take various other embodiments, and various modifications such as omission and substitution can be made without departing from the gist of the present invention. These embodiments and modifications thereof are included in the scope and gist of the invention described in the present specification and the like, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

The inventions described in the claims at the time of filing the application of the present application are described below.
[Appendix 1]
An acquisition means for acquiring a first physical quantity measured multiple times within a series of operations and a second physical quantity different from the first physical quantity, respectively.
A determination means for determining the correction value of the first physical quantity based on the dispersion value of the second physical quantity during the period of the series of operations acquired by the acquisition means.
An information processing device characterized by being equipped with.
[Appendix 2]
A first calculation means for calculating the evaluation value of the first physical quantity in the corresponding period based on the dispersion value of the second physical quantity in the period of the series of operations acquired by the acquisition means is further provided.
The determination means determines the correction value of the first physical quantity based on the evaluation value calculated by the first calculation means.
The information processing device according to Appendix 1, wherein the information processing device is characterized by the above.
[Appendix 3]
A determination means for determining whether or not to correct the first physical quantity is further provided based on the dispersion value of the second physical quantity in the period of the series of operations acquired by the acquisition means.
The information processing device according to Appendix 2, wherein the information processing device is characterized by the above.
[Appendix 4]
A second calculation means for calculating the correction value of the first physical quantity based on the evaluation value is further provided.
The information processing device according to Appendix 2 or 3, wherein the information processing device is characterized by the above.
[Appendix 5]
A setting means for setting a weighted distribution according to the variance value of the second physical quantity is further provided.
The first calculation means calculates a low evaluation value at a portion having a large difference in a weighted distribution according to the variance value of the second physical quantity set by the setting means.
The information processing device according to any one of Supplementary note 2 to 4, wherein the information processing device is characterized by the above.
[Appendix 6]
The acquisition means acquires the first physical quantity and the second physical quantity, respectively, after the measurement of a series of operations is completed.
The information processing device according to any one of Supplementary note 1 to 5, wherein the information processing device is characterized by the above.
[Appendix 7]
A series of motion measurements are performed by a sensor device worn on the body of the motion target person.
The information processing device according to any one of Supplementary note 1 to 6, wherein the information processing device is characterized by the above.
[Appendix 8]
The first physical quantity is the angular velocity.
The second physical quantity is acceleration or geomagnetism.
The information processing device according to any one of Supplementary note 1 to 7, wherein the information processing device is characterized by the above.
[Appendix 9]
An acquisition step of acquiring a first physical quantity measured multiple times within a series of operations and a second physical quantity different from the first physical quantity, respectively.
A determination step of determining the correction value of the first physical quantity based on the variance value of the second physical quantity in the period of the series of operations acquired by the acquisition step.
An information processing method characterized by including.
[Appendix 10]
Computer,
An acquisition means for acquiring a first physical quantity measured multiple times within a series of operations and a second physical quantity different from the first physical quantity.
A determination means for determining a correction value of the first physical quantity based on the dispersion value of the second physical quantity during the period of the series of operations acquired by the acquisition means.
A program characterized by functioning as.

1 ... motion analysis device, 2 ... sensor unit, 11 ... CPU, 12 ... ROM, 13 ... RAM, 14 ... bus, 15 ... input / output interface, 16 ... -Sensor unit, 17 ... Input unit, 18 ... Output unit, 19 ... Storage unit, 20 ... Communication unit, 21 ... Drive, 22 ... Imaging unit, 31 ... Removable Media, 51 ... Sensor information acquisition unit, 52 ... Evaluation value calculation processing unit, 53 ... Offset setting processing unit, 54 ... Waist angle calculation unit, 55 ... Output control unit, 71 ...・ Sensor information storage unit, 72 ・ ・ ・ Attitude information storage unit, S ・ ・ ・ Motion analysis system

Claims (6)

An acquisition means for acquiring a first physical quantity measured within a series of operations and a second physical quantity having a coordinate system different from that of the first physical quantity, respectively.
The previously prepared correction value of the first physical quantity is subtracted from the first physical quantity that is the acquired value, it converts the second physical quantity that the obtained the value of the world coordinate system, wherein said first physical quantity belongs , A calculation means for calculating the weighted variance from the converted value, and
A setting means for setting an evaluation value of a correction value of a first physical quantity based on the weighted variance calculated by the calculation means, and a setting means.
An update means for updating the correction value of the first physical quantity based on the evaluation value of the correction value of the first physical quantity set by the setting means, and
An information processing device characterized by being equipped with. The acquisition means acquires the first physical quantity and the second physical quantity, respectively, after the measurement of a series of operations is completed.
The information processing apparatus according to claim 1. A series of motion measurements are performed by a sensor device worn on the body of the motion target person.
The information processing apparatus according to claim 1 or 2. The first physical quantity is the angular velocity.
The second physical quantity is acceleration or geomagnetism.
The information processing apparatus according to any one of claims 1 to 3. An acquisition step of acquiring a first physical quantity measured within a series of operations and a second physical quantity having a coordinate system different from that of the first physical quantity, respectively.
The previously prepared correction value of the first physical quantity is subtracted from the first physical quantity that is the acquired value, it converts the second physical quantity that the obtained the value of the world coordinate system, wherein said first physical quantity belongs , The calculation step of calculating the weighted variance from the converted value,
A setting step for setting an evaluation value of a correction value of a first physical quantity based on the weighted variance calculated in the calculation step, and a setting step.
An update step for updating the correction value of the first physical quantity based on the evaluation value of the correction value of the first physical quantity set in the setting step, and an update step.
An information processing method characterized by including. Computer,
An acquisition means for acquiring a first physical quantity measured within a series of operations and a second physical quantity having a coordinate system different from that of the first physical quantity.
The previously prepared correction value of the first physical quantity is subtracted from the first physical quantity that is the acquired value, it converts the second physical quantity that the obtained the value of the world coordinate system, wherein said first physical quantity belongs , A calculation means for calculating the weighted variance from the converted value,
A setting means for setting an evaluation value of a correction value of a first physical quantity based on the weighted variance calculated by the calculation means.
An updating means for updating the correction value of the first physical quantity based on the evaluation value of the correction value of the first physical quantity set by the setting means.
A program characterized by functioning as.

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