具方位推估法之嵌入式高爾夫球練習機設計與製作

隨著硬體發展技術日益成熟，許多電子產品已逐漸縮小化、輕便化，以增加可攜性，而開發人員在開發時所使用的開發板，因成本考量也有所調整，以減少開發時所花費的時間及硬體成本。有別於一般市面上傳統高爾夫球練習機只能單獨顯示球體速度，本論文提出一個使用方位推估法、具有即時處理能力，並以ATmega328 作為主控核心之嵌入式高爾夫球練習機。所使用平台為Arduino，利用FSR 壓力感測計以判斷使用者身體是否為平衡狀態，再使用Freescale MMA7260QT 三軸加速計量測球體動態，讀取X, Y, Z 各軸之值，並應用方位推估法(Dead Reckoning, DR)來進行方位預測，同時利用凹槽型光電紅外線感測，以計算出球所擊出的球速。結合以上所有資料，藉由多感測器資料融合(Multi-sensor Data Fusion)技術，再配合專家資料庫，以實現嵌入式高爾夫球練習機，提供使用者修正打擊動作之資訊。

關鍵字

高爾夫練習機； Arduino ；嵌入式系統

並列摘要

With the development of technology, hardware has become more sophisticated. Many electronic products have been gradually miniaturized and with lightweight technology to increase portability of the products. Considering the hardware cost and time to market, the developers in the development period have to make a good decision for selecting a development board. Unlike the traditional golf training machine which can only display speed of the golf, this thesis presents an embedded golf training machine based on the ATmega328 chip and applying the Reckoning approach with real-time processing capability. The Arduino platform is used in the proposed system, FSR pressure sensors are used to determine the balance of the user’s body. Freescale MMA7260QT axis acceleration measurement is used to obtain the moving situation of the ball dynamically,by reading X, Y, and Z values from each axis, and applying the Reckoning (Dead Reckoning, DR) approach to predict the direction of the moving ball. Moreover, optical infrared sensor is used for calculating the speed of the ball. Using the above data obtained,by applying multi-sensor data fusion (Multi-sensor Data Fusion) technology with expert database,an embedded golf training machine can be implemented to provide users more accurate information to correct their operations of playing golf.

並列關鍵字

Golf ； Embedded system ； Arduino

參考文獻

[2] Freescale, Freescale Semiconductor Technical Data MMA7620QT, 2007.

[6] David M. Bevly and Bradford Parkinson, “Cascaded Kalman Filters for Accurate Estimation of Multiple Biases, Dead-Reckoning Navigation, and Full State Feedback Control of Ground Vehicles,” IEEE TRANSACTIONS ON CONTROL

[1] “ Arduino Duemilanove”, available at