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MBEC
2010

Ambulatory human motion tracking by fusion of inertial and magnetic sensing with adaptive actuation

7 years 11 months ago
Ambulatory human motion tracking by fusion of inertial and magnetic sensing with adaptive actuation
Over the last years, inertial sensing has proven to be a suitable ambulatory alternative to traditional human motion tracking based on optical position measurement systems, which are generally restricted to a laboratory environment. Besides many advantages, a major drawback is the inherent drift caused by integration of acceleration and angular velocity to obtain position and orientation. In addition, inertial sensing cannot be used to estimate relative positions and orientations of sensors with respect to each other. In order to overcome these drawbacks, this study presents an Extended Kalman Filter for fusion of inertial and magnetic sensing that is used to estimate relative positions and orientations. In between magnetic updates, change of position and orientation are estimated using inertial sensors. The system decides to perform a magnetic update only if the estimated uncertainty associated with the relative position and orientation exceeds a predefined threshold. The filter is ab...
H. Martin Schepers, Daniel Roetenberg, Peter H. Ve
Added 20 May 2011
Updated 20 May 2011
Type Journal
Year 2010
Where MBEC
Authors H. Martin Schepers, Daniel Roetenberg, Peter H. Veltink
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