Motion　capture　is　a　key　technology　for　robots　to　accurately　understand　pedestrian　intentions　in　the　scene　of　human-machine　integration.　Due　to　the　limited　spatial　distance　and　easy　obstruction　by　obstacles,　traditional　optical　motion　capture　systems　often　lose　detection　targets.　This　paper　proposes　a　wearable　motion　tracking　method　based　on　D-H　parameter　method.　By　binding　multiple　wireless　inertial　sensor　units　composed　of　accelerometers,　magnetic　flux　sensors　and　gyroscopes　to　various　moving　parts　of　the　user＇s　body,　accurate　and　robust　tracking　of　moving　targets　is　achieved.　This　method　uses　the　known　pose　information　of　the　root　node　to　find　the　pose　state　of　each　level　in　the　reference　coordinate　system,　and　establishes　the　human　body　joint　rotation　model　and　the　bone　position　state　model.　The　results　show　that　the　motion　tracking　method　proposed　in　this　paper　reduces　9　degrees　of　freedom　compared　with　the　traditional　forward　kinematics　method,　and　the　algorithm　efficiency　is　increased　by　about　20%,　which　can　accurately　obtain　the　posture　characteristics　of　the　human　body.　It　can　be　seen　that　the　D-H　parameter　method　is　reasonable　for　the　wearable　human　body　motion　tracking.　©　Published　under　licence　by　IOP　Publishing　Ltd.