Low cost inertial orientation tracking with Kalman filter

Haid, Markus; Breitenbach, Jan

doi:10.1016/s0096-3003(03)00656-8

Cited by 37 publications

(19 citation statements)

References 1 publication

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“…The combination of the three types of sensor signals for human motion analysis has been reported previously [12], [14], [20], [21]. However, magnetic interference has not been taken into account in these filters and large errors will occur in the vicinity of ferromagnetic objects.…”

Section: Discussionmentioning

confidence: 99%

“…1) (20) The same principle of the inclination sensor signals generation model was applied for the estimation of the global magnetic vector. Both magnetometer ( ) and gyroscope ( ) systems make an estimate of the magnetic field vector (21) The error input can be formed by combining (20) and (21) in one vector (22) The inclination estimate from the accelerometer is calculated by subtracting the predicted acceleration from the accelerometer signal to obtain the gravity vector. The gravity vector is normalized to obtain an estimate of the inclination of (23) with being the correct inclination vector at time , the effect of the orientation error on the acceleration estimate and the a priori acceleration error.…”

Section: Filter Structurementioning

confidence: 99%

“…However, ferromagnetic materials, like iron, or other magnetic materials in the vicinity of the sensor will disturb the local magnetic field and will, therefore, cause large errors in the estimated orientation, especially in the heading direction. Also, other proposed methods to fuse the three different sensors do not take magnetic interferences into account [20]- [22]. In controlled measurement volumes like laboratories for gait or virtual reality, the magnetic field can be characterized a priori.…”

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confidence: 99%

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Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

Roetenberg

Luinge

Baten

et al. 2005

IEEE Trans. Neural Syst. Rehabil. Eng.

505

332

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Section: Discussionmentioning

confidence: 99%

Section: Filter Structurementioning

confidence: 99%

mentioning

confidence: 99%

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Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

Roetenberg

Luinge

Baten

et al. 2005

IEEE Trans. Neural Syst. Rehabil. Eng.

505

332

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“…However, it has some disadvantages including implementation complexity [39], [40], high sampling rate due to linear regression iteration (fundamental to the Kalman process) and the requirement to deal with large scale vectors to describe rotational kinematics in three-dimensions [38], [16]. There are some other alternatives to address these issues including Fuzzy processing [41] or frequency domain filters [42].…”

Section: B Sensor Orientation and Joint Angle Estimationmentioning

confidence: 99%

Toward Automatic Activity Classification and Movement Assessment During a Sports Training Session

Ahmadi

Mitchell

Richter

et al. 2015

IEEE Internet Things J.

106

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Abstract-Motion analysis technologies have been widely used to monitor the potential for injury and enhance athlete performance. However, most of these technologies are expensive, can only be used in laboratory environments and examine only a few trials of each movement action. In this paper, we present a novel ambulatory motion analysis framework using wearable inertial sensors to accurately assess all of an athlete's activities in real training environment. We firstly present a system that automatically classifies a large range of training activities using the Discrete Wavelet Transform (DWT) in conjunction with a Random forest classifier. The classifier is capable of successfully classifying various activities with up to 98% accuracy. Secondly, a computationally efficient gradient descent algorithm is used to estimate the relative orientations of the wearable inertial sensors mounted on the shank, thigh and pelvis of a subject, from which the flexion-extension knee and hip angles are calculated. These angles, along with sacrum impact accelerations, are automatically extracted for each stride during jogging. Finally, normative data is generated and used to determine if a subject's movement technique differed to the normative data in order to identify potential injury related factors. For the joint angle data this is achieved using a curve-shift registration technique. It is envisaged that the proposed framework could be utilized for accurate and automatic sports activity classification and reliable movement technique evaluation in various unconstrained environments for both injury management and performance enhancement.

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“…Tests of the filter with real measurements are mentioned, but not shown or quantified. Haid and Breitenbach [28] also describe a Kalman filter algorithm for use with inertial and magnetic sensors. The primary aim of the filter is the elimination of drift and bias effects observed in low-cost angular rate sensors.…”

Section: Related Workmentioning

confidence: 99%

Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment

Bachmann¹,

Yun²,

Brumfield³

2007

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The public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information.Send comments regarding this burden estimate or any other aspect of this collection of information, including suggesstions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA, 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. a. REPORT Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment ABSTRACT SECURITY CLASSIFICATION OF:Inertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on the goal of developing and demonstrating wireless full body tracking using MARG sensor modules. S REPORT DATE (DD-MM-YYYY) TITLE AND SUBTITLE 31-08-200713. SUPPLEMENTARY NOTES The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an official Department of the Army position, policy or decision, unless so designated by other documentation. Approved for public release; Federal purpose rights U Final Report Inertial Motion Tracking for Inserting Humans into a Networked Synthetic EnvironmentReport Title ABSTRACTInertial/Magnetic tracking is based on the use of sensors containing three orthogonally mounted angular rate sensors, three orthogonal linear accelerometers and three orthogonal magnetometers to determine independently the orientation of each link of an articulated rigid body. Inertial/magnetic orientation tracking could be applied to a broad range of problems which require real-time tracking of an articulated structure without being continuously dependent upon an artificially generated source. This research focuses on the goal of developing and demonstrating wireless full body tracking using MARG sensor modules.During the period of this report, six manuscripts were submitted for peer-reviewed publication. Of these six, five have been accepted. These include three journal publications and two conference papers. In addition, scientific advances have been made in the following areas:• Number of Presentations:0.00 Non Peer-Reviewed Conference...

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Low cost inertial orientation tracking with Kalman filter

Cited by 37 publications

References 1 publication

Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

Toward Automatic Activity Classification and Movement Assessment During a Sports Training Session

Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment

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