Paper Info
Title
Ambulatory human motion tracking by fusion of inertial and magnetic sensing with adaptive actuation.
Abstract
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 able to provide a stable and accurate estimation of relative position and orientation for several types of movements, as indicated by the average rms error being 0.033 m for the position and 3.6 degrees for the orientation.
Year
DOI
Venue
2010
10.1007/s11517-009-0562-9
Med. Biol. Engineering and Computing
Keywords
Field
DocType
orientation,measurement system,motion tracking,algorithms,magnetics,extended kalman filter,biomechanics,movement
Inertial frame of reference,Computer vision,Extended Kalman filter,Angular velocity,System of measurement,Control theory,GPS/INS,Artificial intelligence,Inertial measurement unit,Acceleration,Inertial reference unit,Mathematics
Journal
Volume
Issue
ISSN
48
1
1741-0444
Citations 
PageRank 
References 
25
2.06
10
Authors
3
Name
Order
Citations
PageRank
H. Martin Schepers1374.15
Daniel Roetenberg212613.73
Peter H. Veltink329142.38