An Estimation Method of Ski Friction Coefficients in Ski Running on Actual Snow Fields by Sensor System
An Estimation Method of Ski Friction Coefficients in Ski Running on Actual Snow Fields by Sensor System
复制标题
传感器系统估算实际雪场滑雪摩擦系数的方法
DOI：
10.1016/j.proeng.2015.07.258
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
DOKI Hitoshi
中科院分区：
文献类型：
--
作者：
KONDO Akiko;HIROSE Kiyoshi;SAITO Ayuko;DOKI Hitoshi
提出了一种利用传感器系统对滑雪运动中的滑雪板摩擦系数进行估计的方法。滑雪板在实际雪场上滑行时的摩擦系数的测定，对滑雪板、雪蜡的研制具有重要意义。滑雪板摩擦系数被假定为滑雪板的库仑摩擦系数和粘性摩擦系数之和。利用雪板坐标系下的雪面反力和滑行速度信息，利用卡尔曼滤波器估计雪板的摩擦系数。通过安装在滑雪板和固定器之间的六维力传感器测量雪面反力，并利用雪面反力的方向分量和垂直分量估算滑雪板摩擦系数。通过滑雪靴子的3D姿态和加速度以及3D位置来估计滑行速度。利用陀螺传感器的角速度和滑雪靴子上加速度计的加速度进行传感器融合，估计出滑雪者的三维姿态。通过将GPS接收器附接到头顶来获得3D位置。利用滑雪板摩擦系数的估算方法，对滑雪者在实际雪场上进行滑行转弯时所获得的信息进行测量，得到了滑雪板摩擦系数在实际雪场上的时刻变化规律。滑雪板摩擦系数的估算结果与文献值吻合较好。因此，所提出的方法可以用于评价天空，滑雪蜡。
This paper proposes an estimation method of ski friction coefficients in ski running by using sensor system. It is important for development of skies, ski waxes to obtain ski friction coefficient in ski running on actual snow filed. The ski friction coefficients are assumed as the sum of the Coulomb friction coefficient and the viscous friction coefficient of a ski. The ski friction coefficients are estimated using the Kalman filter by the information of reaction force from snow surface and gliding velocity in ski's coordinate. The reaction force from snow surface was measured by 6-axis force sensor installed to between ski and binding, and the direction and vertical components of reaction force from snow surface are used for estimation of ski friction coefficient. The gliding velocity was estimated by the 3D posture and the acceleration of ski boot, and the 3D position. The 3D posture was estimated by using the sensor fusion from the angular velocity of gyro sensor and the acceleration of accelerometer attaching the ski boot. The 3D position was obtained by GPS receiver attaching to top of head. We used the estimation method of ski friction coefficients to measurement information obtained by the skier conducting carving turns on an actual snow field, and we obtained the ski friction coefficients varying from moment to moment on an actual snow field. The estimation results of ski friction coefficients fitted for the previous reference. Therefore, the proposed method can use to evaluation of skies, ski waxes.